{"action":"created","issue":{"url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/183","labels_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/183/labels{/name}","comments_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/183/comments","events_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/183/events","html_url":"https://github.com/ros-industrial/universal_robot/issues/183","id":60006765,"number":183,"title":"Fatal error when unpacking RobotState packet","user":{"login":"akgoins","id":8662812,"avatar_url":"https://avatars.githubusercontent.com/u/8662812?v=3","gravatar_id":"","url":"https://api.github.com/users/akgoins","html_url":"https://github.com/akgoins","followers_url":"https://api.github.com/users/akgoins/followers","following_url":"https://api.github.com/users/akgoins/following{/other_user}","gists_url":"https://api.github.com/users/akgoins/gists{/gist_id}","starred_url":"https://api.github.com/users/akgoins/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/akgoins/subscriptions","organizations_url":"https://api.github.com/users/akgoins/orgs","repos_url":"https://api.github.com/users/akgoins/repos","events_url":"https://api.github.com/users/akgoins/events{/privacy}","received_events_url":"https://api.github.com/users/akgoins/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":37,"created_at":"2015-03-05T19:57:16Z","updated_at":"2015-06-03T17:08:53Z","closed_at":null,"body":"When launching ur5_bringup.launch, I keep getting the error \"Exception: Fatal error when unpacking RobotState packet\" which prevents me from receiving any information on the \"/io_states\" topic.  I am getting data on the /joint_states and /wrench topics, and I can set IO using the /set_IO service, but I am not receiving any feedback.  Is this an issue with newer controllers?  I have interface and controller version 3.1.16916.  Here is the full debug output:\r\n\r\n[WARN] [WallTime: 1425584960.972983] No calibration offset for joint \"shoulder_pan_joint\"\r\n[WARN] [WallTime: 1425584960.973292] No calibration offset for joint \"shoulder_lift_joint\"\r\n[WARN] [WallTime: 1425584960.973510] No calibration offset for joint \"elbow_joint\"\r\n[WARN] [WallTime: 1425584960.973790] No calibration offset for joint \"wrist_1_joint\"\r\n[WARN] [WallTime: 1425584960.974083] No calibration offset for joint \"wrist_2_joint\"\r\n[WARN] [WallTime: 1425584960.974338] No calibration offset for joint \"wrist_3_joint\"\r\n[INFO] [WallTime: 1425584960.974532] No calibration offsets loaded from urdf\r\n[INFO] [WallTime: 1425584960.975878] Max velocity accepted by ur_driver: 10.0 [rad/s]\r\n[INFO] [WallTime: 1425584960.979008] Bounds for Payload: [0.0, 10.0]\r\nDisconnected.  Reconnecting\r\n[INFO] [WallTime: 1425584961.013669] Programming the robot\r\n[INFO] [WallTime: 1425584961.013935] Programming the robot at 192.168.1.50\r\nLikely a syntax error:\r\n4\u0014���������\u0003\tURControl\u0003\u0001B\u0014Feb 06 2015, 15:17:07\r\nException in thread URConnection:\r\nTraceback (most recent call last):\r\n  File \"/usr/lib/python2.7/threading.py\", line 810, in __bootstrap_inner\r\n    self.run()\r\n  File \"/usr/lib/python2.7/threading.py\", line 763, in run\r\n    self.__target(*self.__args, **self.__kwargs)\r\n  File \"/home/swri/catkin_ws/src/universal_robot/ur_driver/src/ur_driver/driver.py\", line 279, in __run\r\n    self.__on_packet(packet)\r\n  File \"/home/swri/catkin_ws/src/universal_robot/ur_driver/src/ur_driver/driver.py\", line 191, in __on_packet\r\n    state = RobotState.unpack(buf)\r\n  File \"/home/swri/catkin_ws/src/universal_robot/ur_driver/src/ur_driver/deserialize.py\", line 326, in unpack\r\n    raise Exception(\"Fatal error when unpacking RobotState packet\")\r\nException: Fatal error when unpacking RobotState packet\r\n\r\nHandling a request\r\n[INFO] [WallTime: 1425584961.830251] Robot connected\r\n[2015-03-05 13:49:21.837790] Out: hello\r\nThe action server for this driver has been started\r\n"},"comment":{"url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/comments/108526500","html_url":"https://github.com/ros-industrial/universal_robot/issues/183#issuecomment-108526500","issue_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/183","id":108526500,"user":{"login":"davetcoleman","id":561060,"avatar_url":"https://avatars.githubusercontent.com/u/561060?v=3","gravatar_id":"","url":"https://api.github.com/users/davetcoleman","html_url":"https://github.com/davetcoleman","followers_url":"https://api.github.com/users/davetcoleman/followers","following_url":"https://api.github.com/users/davetcoleman/following{/other_user}","gists_url":"https://api.github.com/users/davetcoleman/gists{/gist_id}","starred_url":"https://api.github.com/users/davetcoleman/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/davetcoleman/subscriptions","organizations_url":"https://api.github.com/users/davetcoleman/orgs","repos_url":"https://api.github.com/users/davetcoleman/repos","events_url":"https://api.github.com/users/davetcoleman/events{/privacy}","received_events_url":"https://api.github.com/users/davetcoleman/received_events","type":"User","site_admin":false},"created_at":"2015-06-03T17:08:53Z","updated_at":"2015-06-03T17:08:53Z","body":"I downgraded to last August's firmware version (SW3.0.15547) and it appears to be running normal. Seems like this issue should be revisited when UR releases the next version."}}