@andreaskoepf This can apply on indigo-devel (here)? The difference it’s that the first take i=MOT_MAX_GR -1 it’s decreasing. The other from zero to until number groups.
@gavanderhoorn I have eliminated group three and two for arms, but I have the same problem:
[ INFO] [1525802331.438267018]: Added message handler for message type: 0
[ INFO] [1525802331.443545844]: Robot state connecting to IP address: '192.168.255.10:50241'
[ INFO] [1525802331.447706704]: Loading topic list
[ INFO] [1525802331.447797778]: Found 4 topics
[ INFO] [1525802331.447990373]: Topic(state_value): [group:0,joints:{arm_right_joint_1_s,arm_right_joint_2_l,arm_right_joint_3_e,arm_right_joint_4_u,arm_right_joint_5_r,arm_right_joint_6_b,arm_right_joint_7_t},name:sda20d_r2_controller,ns:sda20d]
[ INFO] [1525802331.448174949]: Topic(state_value): [group:1,joints:{arm_left_joint_1_s,arm_left_joint_2_l,arm_left_joint_3_e,arm_left_joint_4_u,arm_left_joint_5_r,arm_left_joint_6_b,arm_left_joint_7_t},name:sda20d_r1_controller,ns:sda20d]
[ INFO] [1525802331.448349955]: Topic(state_value): [group:2,joints:{torso_joint_b1},name:sda20d_b1_controller,ns:sda20d]
[ INFO] [1525802331.448586850]: Topic(state_value): [group:2,joints:{torso_joint_b2},name:sda20d_b2_controller,ns:sda20d]
[ INFO] [1525802331.448777123]: Loading group: [group:0,joints:{arm_right_joint_1_s,arm_right_joint_2_l,arm_right_joint_3_e,arm_right_joint_4_u,arm_right_joint_5_r,arm_right_joint_6_b,arm_right_joint_7_t},name:sda20d_r2_controller,ns:sda20d]
[ INFO] [1525802331.449097947]: Loading group: [group:1,joints:{arm_left_joint_1_s,arm_left_joint_2_l,arm_left_joint_3_e,arm_left_joint_4_u,arm_left_joint_5_r,arm_left_joint_6_b,arm_left_joint_7_t},name:sda20d_r1_controller,ns:sda20d]
[ INFO] [1525802331.449303266]: Loading group: [group:2,joints:{torso_joint_b1},name:sda20d_b1_controller,ns:sda20d]
[ INFO] [1525802331.449477517]: Loading group: [group:2,joints:{torso_joint_b2},name:sda20d_b2_controller,ns:sda20d]
[ INFO] [1525802331.449663703]: Loaded 3 groups
[ INFO] [1525802331.449878726]: Initializing robot state 3 groups
[ INFO] [1525802331.450044933]: Initializing message manager with default comms fault handler
[ INFO] [1525802331.450200052]: Default communications fault handler successfully initialized
[ INFO] [1525802331.450351758]: Initializing message manager
[ INFO] [1525802331.450507301]: Added message handler for message type: 1
[ INFO] [1525802331.452929789]: Joint Trajectory Interface connecting to IP address: '192.168.255.10:50240'
[ INFO] [1525802331.457070987]: Loading topic list
[ INFO] [1525802331.457150840]: Found 4 topics
[ INFO] [1525802331.457232638]: Topic(state_value): [group:0,joints:{arm_right_joint_1_s,arm_right_joint_2_l,arm_right_joint_3_e,arm_right_joint_4_u,arm_right_joint_5_r,arm_right_joint_6_b,arm_right_joint_7_t},name:sda20d_r2_controller,ns:sda20d]
[ INFO] [1525802331.457297440]: Topic(state_value): [group:1,joints:{arm_left_joint_1_s,arm_left_joint_2_l,arm_left_joint_3_e,arm_left_joint_4_u,arm_left_joint_5_r,arm_left_joint_6_b,arm_left_joint_7_t},name:sda20d_r1_controller,ns:sda20d]
[ INFO] [1525802331.457354225]: Topic(state_value): [group:2,joints:{torso_joint_b1},name:sda20d_b1_controller,ns:sda20d]
[ INFO] [1525802331.457413602]: Topic(state_value): [group:2,joints:{torso_joint_b2},name:sda20d_b2_controller,ns:sda20d]
[ INFO] [1525802331.457467015]: Loading group: [group:0,joints:{arm_right_joint_1_s,arm_right_joint_2_l,arm_right_joint_3_e,arm_right_joint_4_u,arm_right_joint_5_r,arm_right_joint_6_b,arm_right_joint_7_t},name:sda20d_r2_controller,ns:sda20d]
[ INFO] [1525802331.457594219]: Loading group: [group:1,joints:{arm_left_joint_1_s,arm_left_joint_2_l,arm_left_joint_3_e,arm_left_joint_4_u,arm_left_joint_5_r,arm_left_joint_6_b,arm_left_joint_7_t},name:sda20d_r1_controller,ns:sda20d]
[ INFO] [1525802331.457662366]: Loading group: [group:2,joints:{torso_joint_b1},name:sda20d_b1_controller,ns:sda20d]
[ INFO] [1525802331.457722454]: Loading group: [group:2,joints:{torso_joint_b2},name:sda20d_b2_controller,ns:sda20d]
[ INFO] [1525802331.457795325]: Loaded 3 groups
[ INFO] [1525802331.457857552]: MotomanJointTrajectoryStreamer: init
[ INFO] [1525802331.457904468]: JointTrajectoryStreamer: init
[ INFO] [1525802331.458500373]: Connected to server
[ WARN] [1525802331.459938562]: Unable to read velocity limits from 'robot_description' param. Velocity validation disabled.
[ INFO] [1525802331.469278550]: Added message handler for message type: 10
[ INFO] [1525802331.471845604]: Added message handler for message type: 15
[ INFO] [1525802331.471925152]: Creating joint_feedback_ex_relay_handler with 3 groups
[ INFO] [1525802331.479876680]: Loading topic list
[ INFO] [1525802331.479983408]: Found 4 topics
[ INFO] [1525802331.480034636]: Topic(state_value): [group:0,joints:{arm_right_joint_1_s,arm_right_joint_2_l,arm_right_joint_3_e,arm_right_joint_4_u,arm_right_joint_5_r,arm_right_joint_6_b,arm_right_joint_7_t},name:sda20d_r2_controller,ns:sda20d]
[ INFO] [1525802331.480086592]: Topic(state_value): [group:1,joints:{arm_left_joint_1_s,arm_left_joint_2_l,arm_left_joint_3_e,arm_left_joint_4_u,arm_left_joint_5_r,arm_left_joint_6_b,arm_left_joint_7_t},name:sda20d_r1_controller,ns:sda20d]
[ INFO] [1525802331.480130836]: Topic(state_value): [group:2,joints:{torso_joint_b1},name:sda20d_b1_controller,ns:sda20d]
[ INFO] [1525802331.480174577]: Topic(state_value): [group:2,joints:{torso_joint_b2},name:sda20d_b2_controller,ns:sda20d]
[ INFO] [1525802331.480214888]: Loading group: [group:0,joints:{arm_right_joint_1_s,arm_right_joint_2_l,arm_right_joint_3_e,arm_right_joint_4_u,arm_right_joint_5_r,arm_right_joint_6_b,arm_right_joint_7_t},name:sda20d_r2_controller,ns:sda20d]
[ INFO] [1525802331.480327181]: Loading group: [group:1,joints:{arm_left_joint_1_s,arm_left_joint_2_l,arm_left_joint_3_e,arm_left_joint_4_u,arm_left_joint_5_r,arm_left_joint_6_b,arm_left_joint_7_t},name:sda20d_r1_controller,ns:sda20d]
[ INFO] [1525802331.480380941]: Loading group: [group:2,joints:{torso_joint_b1},name:sda20d_b1_controller,ns:sda20d]
[ INFO] [1525802331.480426611]: Loading group: [group:2,joints:{torso_joint_b2},name:sda20d_b2_controller,ns:sda20d]
[ INFO] [1525802331.480475311]: Loaded 3 groups
[ INFO] [1525802331.481578268]: Added message handler for message type: 2017
[ INFO] [1525802331.485001516]: Connected to server
[ INFO] [1525802331.485061847]: Successfully initialized robot state interface
[ INFO] [1525802331.485108232]: Entering message manager spin loop
[ INFO] [1525802331.552928670]: Unlocking mutex
[ INFO] [1525802331.553042195]: Starting Motoman joint trajectory streamer thread
[ INFO] [1525802331.558210887]: Connecting to robot motion server
[ WARN] [1525802331.558278139]: Tried to connect when socket already in connected state
[FATAL] [1525802331.673627559]: ASSERTION FAILED
file = /home/sda20/cidesi_robots_ws/src/motoman-indigo-devel/motoman_driver/src/industrial_robot_client/joint_relay_handler.cpp
line = 320
cond = all_joint_state.positions.size() == all_joint_names.size()
[joint_state-1] process has died [pid 23590, exit code -5, cmd /home/sda20/cidesi_robots_ws/devel/lib/motoman_driver/robot_state __name:=joint_state __log:=/home/sda20/.ros/log/00b5a52a-52e8-11e8-97d3-009a9e9d9347/joint_state-1.log].
log file: /home/sda20/.ros/log/00b5a52a-52e8-11e8-97d3-009a9e9d9347/joint_state-1*.log
[ INFO] [1525807605.449170847]: Added message handler for message type: 0
[ INFO] [1525807605.455824568]: Robot state connecting to IP address: '192.168.255.10:50241'
[ INFO] [1525807605.458944544]: Loading topic list
[ INFO] [1525807605.459047732]: Found 2 topics
[ INFO] [1525807605.459115870]: Topic(state_value): [group:0,joints:{arm_right_joint_1_s,arm_right_joint_2_l,arm_right_joint_3_e,arm_right_joint_4_u,arm_right_joint_5_r,arm_right_joint_6_b,arm_right_joint_7_t},name:sda20d_r2_controller,ns:sda20d]
[ INFO] [1525807605.459233539]: Topic(state_value): [group:1,joints:{arm_left_joint_1_s,arm_left_joint_2_l,arm_left_joint_3_e,arm_left_joint_4_u,arm_left_joint_5_r,arm_left_joint_6_b,arm_left_joint_7_t},name:sda20d_r1_controller,ns:sda20d]
[ INFO] [1525807605.459333939]: Loading group: [group:0,joints:{arm_right_joint_1_s,arm_right_joint_2_l,arm_right_joint_3_e,arm_right_joint_4_u,arm_right_joint_5_r,arm_right_joint_6_b,arm_right_joint_7_t},name:sda20d_r2_controller,ns:sda20d]
[ INFO] [1525807605.459564509]: Loading group: [group:1,joints:{arm_left_joint_1_s,arm_left_joint_2_l,arm_left_joint_3_e,arm_left_joint_4_u,arm_left_joint_5_r,arm_left_joint_6_b,arm_left_joint_7_t},name:sda20d_r1_controller,ns:sda20d]
[ INFO] [1525807605.459692435]: Loaded 2 groups
[ INFO] [1525807605.459811539]: Initializing robot state 2 groups
[ INFO] [1525807605.459909898]: Initializing message manager with default comms fault handler
[ INFO] [1525807605.459998111]: Default communications fault handler successfully initialized
[ INFO] [1525807605.460075912]: Initializing message manager
[ INFO] [1525807605.460160439]: Added message handler for message type: 1
process[joint_trajectory_action-3]: started with pid [25755]
[ INFO] [1525807605.470761572]: Added message handler for message type: 10
[ INFO] [1525807605.472210634]: Added message handler for message type: 15
[ INFO] [1525807605.472312112]: Creating joint_feedback_ex_relay_handler with 2 groups
[ INFO] [1525807605.482048725]: Added message handler for message type: 2017
[ INFO] [1525807605.482837964]: Joint Trajectory Interface connecting to IP address: '192.168.255.10:50240'
[ INFO] [1525807605.485417537]: Connected to server
[ INFO] [1525807605.485497443]: Successfully initialized robot state interface
[ INFO] [1525807605.485588419]: Entering message manager spin loop
[ INFO] [1525807605.490193465]: Loading topic list
[ INFO] [1525807605.490264995]: Found 2 topics
[ INFO] [1525807605.490309897]: Topic(state_value): [group:0,joints:{arm_right_joint_1_s,arm_right_joint_2_l,arm_right_joint_3_e,arm_right_joint_4_u,arm_right_joint_5_r,arm_right_joint_6_b,arm_right_joint_7_t},name:sda20d_r2_controller,ns:sda20d]
[ INFO] [1525807605.490350038]: Topic(state_value): [group:1,joints:{arm_left_joint_1_s,arm_left_joint_2_l,arm_left_joint_3_e,arm_left_joint_4_u,arm_left_joint_5_r,arm_left_joint_6_b,arm_left_joint_7_t},name:sda20d_r1_controller,ns:sda20d]
[ INFO] [1525807605.490412647]: Loading group: [group:0,joints:{arm_right_joint_1_s,arm_right_joint_2_l,arm_right_joint_3_e,arm_right_joint_4_u,arm_right_joint_5_r,arm_right_joint_6_b,arm_right_joint_7_t},name:sda20d_r2_controller,ns:sda20d]
[ INFO] [1525807605.490550847]: Loading group: [group:1,joints:{arm_left_joint_1_s,arm_left_joint_2_l,arm_left_joint_3_e,arm_left_joint_4_u,arm_left_joint_5_r,arm_left_joint_6_b,arm_left_joint_7_t},name:sda20d_r1_controller,ns:sda20d]
[ INFO] [1525807605.490629770]: Loaded 2 groups
[ INFO] [1525807605.490700324]: MotomanJointTrajectoryStreamer: init
[ INFO] [1525807605.490748014]: JointTrajectoryStreamer: init
[ INFO] [1525807605.491187031]: Connected to server
[ INFO] [1525807605.500241632]: Loading topic list
[ INFO] [1525807605.500364735]: Found 2 topics
[ INFO] [1525807605.500438567]: Topic(state_value): [group:0,joints:{arm_right_joint_1_s,arm_right_joint_2_l,arm_right_joint_3_e,arm_right_joint_4_u,arm_right_joint_5_r,arm_right_joint_6_b,arm_right_joint_7_t},name:sda20d_r2_controller,ns:sda20d]
[ INFO] [1525807605.500509860]: Topic(state_value): [group:1,joints:{arm_left_joint_1_s,arm_left_joint_2_l,arm_left_joint_3_e,arm_left_joint_4_u,arm_left_joint_5_r,arm_left_joint_6_b,arm_left_joint_7_t},name:sda20d_r1_controller,ns:sda20d]
[ INFO] [1525807605.500577576]: Loading group: [group:0,joints:{arm_right_joint_1_s,arm_right_joint_2_l,arm_right_joint_3_e,arm_right_joint_4_u,arm_right_joint_5_r,arm_right_joint_6_b,arm_right_joint_7_t},name:sda20d_r2_controller,ns:sda20d]
[ INFO] [1525807605.500706123]: Loading group: [group:1,joints:{arm_left_joint_1_s,arm_left_joint_2_l,arm_left_joint_3_e,arm_left_joint_4_u,arm_left_joint_5_r,arm_left_joint_6_b,arm_left_joint_7_t},name:sda20d_r1_controller,ns:sda20d]
[ INFO] [1525807605.500785825]: Loaded 2 groups
[ INFO] [1525807605.561350326]: Unlocking mutex
[ INFO] [1525807605.561490191]: Starting Motoman joint trajectory streamer thread
[ INFO] [1525807605.566693825]: Connecting to robot motion server
[ WARN] [1525807605.566751532]: Tried to connect when socket already in connected state
[FATAL] [1525807605.575907532]: ASSERTION FAILED
file = /opt/ros/indigo/include/ros/publisher.h
line = 102
cond = false
message =
[FATAL] [1525807605.575987132]: Call to publish() on an invalid Publisher
[FATAL] [1525807605.576013285]:
[joint_state-1] process has died [pid 25742, exit code -5, cmd /home/sda20/cidesi_robots_ws/devel/lib/motoman_driver/robot_state __name:=joint_state __log:=/home/sda20/.ros/log/00b5a52a-52e8-11e8-97d3-009a9e9d9347/joint_state-1.log].
log file: /home/sda20/.ros/log/00b5a52a-52e8-11e8-97d3-009a9e9d9347/joint_state-1*.log