{"action":"opened","issue":{"url":"https://api.github.com/repos/CentroEPiaggio/kuka-lwr/issues/43","labels_url":"https://api.github.com/repos/CentroEPiaggio/kuka-lwr/issues/43/labels{/name}","comments_url":"https://api.github.com/repos/CentroEPiaggio/kuka-lwr/issues/43/comments","events_url":"https://api.github.com/repos/CentroEPiaggio/kuka-lwr/issues/43/events","html_url":"https://github.com/CentroEPiaggio/kuka-lwr/issues/43","id":96099811,"number":43,"title":"Xenomai and RTnet configured for Ubuntu 12.04 hydro not able to send trajectory msgs","user":{"login":"radioactive1014","id":8977162,"avatar_url":"https://avatars.githubusercontent.com/u/8977162?v=3","gravatar_id":"","url":"https://api.github.com/users/radioactive1014","html_url":"https://github.com/radioactive1014","followers_url":"https://api.github.com/users/radioactive1014/followers","following_url":"https://api.github.com/users/radioactive1014/following{/other_user}","gists_url":"https://api.github.com/users/radioactive1014/gists{/gist_id}","starred_url":"https://api.github.com/users/radioactive1014/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/radioactive1014/subscriptions","organizations_url":"https://api.github.com/users/radioactive1014/orgs","repos_url":"https://api.github.com/users/radioactive1014/repos","events_url":"https://api.github.com/users/radioactive1014/events{/privacy}","received_events_url":"https://api.github.com/users/radioactive1014/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":0,"created_at":"2015-07-20T16:16:35Z","updated_at":"2015-07-20T16:16:35Z","closed_at":null,"body":"hi,\r\nI am using this kuka_lwr pack to work with moveit. unfortunately no execution in real time occurs\r\n\r\nUsing T1 mode\r\n1. The .src and .dat is loaded in krc according to the instruction and the program gets it to fri remote loop \r\n\r\nDisplay::-----------------------------------------------------------\r\npreinitialized remote host to 192.168.0.20\r\nIP 127.0.1.1 - Port 49938\r\nfriRemote 49938\r\nFRI Version 1.0.4101.8198\r\n[ INFO] [1437406588.740566841]: Handling joint: lwr_0_joint\r\n[ INFO] [1437406588.740808771]: Handling joint: lwr_1_joint\r\n[ INFO] [1437406588.740884619]: Handling joint: lwr_2_joint\r\n[ INFO] [1437406588.740943635]: Handling joint: lwr_3_joint\r\n[ INFO] [1437406588.741000486]: Handling joint: lwr_4_joint\r\n[ INFO] [1437406588.741066835]: Handling joint: lwr_5_joint\r\n[ INFO] [1437406588.741123756]: Handling joint: lwr_6_joint\r\n[ INFO] [1437406588.741184099]: Register state and effort interfaces\r\nOpening FRI Version 1.0.4101.8198 Interface for LWR ROS server\r\n[ INFO] [1437406588.741271261]: Performing handshake to KRL\r\n[ INFO] [1437406588.741330905]: LWR Status:\r\ntimestamp 0\r\nstate     0\r\nquality   0\r\ndesiredMsrSampleTime 0\r\ndesiredCmdSampleTiintfme 0\r\nsafetyLimits 0\r\nstatistics answerRate  0\r\nlatency     0\r\njitter      0\r\nmissRate    0\r\nmissCounter 0\r\n\r\n\r\n[ INFO] [1437406588.742782487]: Done handshake !\r\nDisplay::-----------------------------------------------------------XXX\r\n###This shows the data exchange is made..\r\n\r\n\r\n2. launch \r\nroslaunch single_lwr_launch kuka_lwr.launch use_lwr_sim:=false lwr_powered:=true load_moveit:=true\r\n\r\nDisplay::-----------------------------------------------------------\r\n[ INFO] [1437407627.058239322]: MoveitSimpleControllerManager: Added FollowJointTrajectory controller for /lwr/joint_trajectory_controller\r\n[ INFO] [1437407627.058367551]: Returned 1 controllers in list\r\n[ INFO] [1437407627.069346884]: Trajectory execution is managing controllers\r\nDisplay::-----------------------------------------------------------XXX\r\n\r\n### the joint trajectory controller is activated and client establish its connection\r\n### **when started the moveit the current state of real KUKA is exactly shown in rviz (the aligned model)\r\n\r\n3. i use interactive markers to move the arm ( rviz motion planning tool ) and the moveit gives out the plan succesfully but no real execution is performed\r\nDisplay::-----------------------------------------------------------\r\n[ INFO] [1437408505.743505954]: Solution found in 0.064542 seconds\r\n[ INFO] [1437408505.785797789]: Path simplification took 0.042185 seconds\r\n[ INFO] [1437408508.011552332]: Received new trajectory execution service request...\r\n[ WARN] [1437408508.011989050]: Dropping first 1 trajectory point(s) out of 27, as they occur before the current time.\r\nFirst valid point will be reached in 0.508s.\r\n[ INFO] [1437408511.862701076]: Execution completed: SUCCEEDED\r\nDisplay::-----------------------------------------------------------XXX\r\n\r\nthe console shows execution is made. unfortunately nothing happens in the real hardware. how the initial states is published but no data transmit or receive happens lately? can i use this pack with gnulinux without realtime app (xenamai and RTnet). is anyone faced this kind of issue. \r\nit seems in krc: and remote host:: things works fine loading the script  and launching moveit..up to generation of plan...\r\n\r\nthanks"}}