Motoman FS100: Missing velocity and effort in joint_states

Question

I'm controlling Yaskawa Motoman SIA10F (controller: FS100) over ROS. Previously the /joint_states topic had values of velocity and effort as well as position, but now velocity and effort disappeared (just blank vectors are sent). I removed some newly-installed packages, but they are still blank. Can anyone have ideas to fix this issue?

What I am doing to launch the Motoman system is as follows:

$ roscore
$ rosparam load `rospack find motoman_sia10f_support`/urdf/sia10f.urdf robot_description
$ rosparam set controller_joint_names "[joint_s, joint_l, joint_e, joint_u, joint_r, joint_b, joint_t]"
$ roslaunch motoman_driver robot_interface_streaming_fs100.launch robot_ip:=192.168.12.31
$ rostopic echo /joint_states

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Originally posted by akihiko on ROS Answers with karma: 113 on 2017-11-27

Post score: 1

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Original comments

Comment by R. Tellez on 2017-11-27:
What do you mean by 'now' ? Did you do something in your system, like upgrading the packages?

Comment by akihiko on 2017-11-27:
I added some packages, but now I removed them.

Answer 1

Previously the /joint_states topic had values of velocity and effort as well as position, but now velocity and effort disappeared (just blank vectors are sent).

I believe you are mistaken, because if you are using the motoman_driver (which, from the commands you show, I believe you are) then velocity and effort were never published as part of the JointState msgs by the robot_state publisher. Those are simply not being populated by the current version of the driver.

See also ros-industrial/motoman#174, where this is being tracked and discussed.

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Originally posted by gvdhoorn with karma: 86574 on 2017-11-27

This answer was ACCEPTED on the original site

Post score: 0

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Original comments

Comment by akihiko on 2017-11-27:
Mmm it could be my mistake. What I'm sure is that I saw a "response" of robot for pushing it. I thought the response was effort, but it could be a slight change of joint positions. You should be right as I am using the pure motoman_driver. Thanks so much.