Incorrecte joint_states values, FANUC m20ia

[ModestieDoree]

For unknown reason, the joint_states that I get on ROS are shifted compared to the ones on the real robot.
I am starting to use ROS so i just followed the tutorial and did nothing else for now.

Real robot (apparently no error)

ROS, we can see down-right that the joints are mixed, it start by the values of J3 then J4 to J6 then two zero and no J1 and J2 values:

[gavanderhoorn]

I would suggest to first check you have no other publishers to /joint_states active.

Then show exactly (ie: verbatim copy-pastes, no screenshots) how you setup things and how you've started things.

To rule out a couple of things:

1. shut down everything, both on the ROS side as well as the Fanuc controller (note: you need to use FCTN->ABORT twice on the TP)
2. start the ROS program on the TP
3. start wireshark and start a capture of the network traffic between your ROS PC and the Fanuc controller
4. while that is running, in a terminal, run nc <ip of your fanuc> 11002 > /dev/null. You should see traffic starting to flow between your Fanuc controller and the ROS PC
5. let that run for a couple of seconds
6. stop nc, keep the TP program(s) running
7. stop the capture, save it somewhere

now:

1. start a new capture
2. roslaunch --screen fanuc_m20ia_support robot_state_visualize_m20ia.launch
3. check the pose of the robot corresponds to the real robot
4. shut down RViz (or ctrl+c the roslaunch in the terminal)
5. stop the capture, save it somewhere

Describe what you observed, and attach the two captures here to your comment (please make sure to zip them first).

[gavanderhoorn]

I see you closed this.

Did you resolve your issue?

[ModestieDoree]

Yes sorry, I use a PC which was already used for ROS and after some search I found that I didn't correctly removed some package that altered the communication between the PC and the robot. Now it work perfectly.

[gavanderhoorn]

some package that altered the communication between the PC and the robot

just out of curiosity: which package is that?

And how does it interfere with that fanuc_driver is doing?

[ModestieDoree]

It was a package to get the IO of the robot, and I am not sure but I think it was changing some of the communication port and was the reason why I got every thing mixed. I believe it was from "antonxy/industrial_core".

[gavanderhoorn]

Ah, ok.

That is a fork of the main repository.

You must use the related version of all other files, otherwise you run into issues, like you did.