Skip to content

slave on op mode can not control moter #160

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom
Open
11wanqin opened this issue Mar 7, 2025 · 5 comments
Open

slave on op mode can not control moter #160

11wanqin opened this issue Mar 7, 2025 · 5 comments

Comments

@11wanqin
Copy link

11wanqin commented Mar 7, 2025

Ethercat enters OP mode from the slave, but the motor cannot move。

Image

Image

Image
@467480903
Copy link

check the motor's current position by igh command:

ethercat upload --position 0 --type int32 0x6064 0x00 #查看位置

check if the motor is in position 10000 already ,

or you can check the position by rostopic echo /joints_status , I fogert the topic name , some like this.

and send the command once , don't send it cyclely,

@11wanqin
Copy link
Author

Image
Image
Image
Image
the motor position is not on 10000 . #没有在1000
/joints_status positions is change #位置值一直在变化

@11wanqin
Copy link
Author

vendor_id: 0x00000009
product_id: 0x00009253
assign_activate: 0x0300 # DC Synch register
auto_fault_reset: false # true = automatic fault reset, false = fault reset on rising edge command interface "reset_fault"
sdo:

  • { index: 0x6060, sub_index: 0, type: int8, value: 0 }
  • { index: 0x6060, sub_index: 0, type: int8, value: 8 }
  • { index: 0x6040, sub_index: 0, type: int16, value: 6 }
  • { index: 0x6040, sub_index: 0, type: int16, value: 7 }
  • { index: 0x6040, sub_index: 0, type: int16, value: 15 }

sdo: # sdo data to be transferred at drive startup

- { index: 0x1C32, sub_index: 0, type: int16, value: 2 }

- { index: 0x1C33, sub_index: 0, type: int16, value: 2 }

rpdo: # RxPDO = receive PDO 4 Mapping

  • index: 0x1601
    channels:
    • { index: 0x60FF, sub_index: 0, type: int32,command_interface: velocity, default: 500 } # Control word
    • { index: 0x607A, sub_index: 0,type: int32,command_interface: position, default: .nan} # Target position
    • { index: 0x6071, sub_index: 0, type: int16, default: 0 } # Target velocity
    • { index: 0x6040, sub_index: 0, type: uint16,command_interface: controlword, default: 0} # Target torque
    • { index: 0x6081, sub_index: 0, type: int16, default: 8 } # Mode of operation
    • { index: 0x6060, sub_index: 0, type: int8, default: 0 } # Mode of operation
    • { index: 0x0000, sub_index: 0, type: int8, default: 0 } # Mode of operation
      tpdo: # TxPDO = transmit PDO 4 Mapping
  • index: 0x1a00
    channels:
    • { index: 0x6064, sub_index: 0, type: int32 , state_interface: position } # Status word
    • { index: 0x6077, sub_index: 0, type: int16} # Position actual value
    • { index: 0x603F, sub_index: 0, type: uint16 } # Torque actual value
    • { index: 0x6041, sub_index: 0, type: uint16 } # Mode of operation display
    • { index: 0x6020, sub_index: 3, type: int16 , state_interface: effort} # Digital Input Functionalities State
    • { index: 0x6061, sub_index: 0, type: int8, default: 0 } # Mode of operation
    • { index: 0x0000, sub_index: 0, type: int8, default: 0 } # Mode of operation
  • index: 0x1a02
    channels:
    • { index: 0x6020, sub_index: 1, type: int16 } # Status word
    • { index: 0x6020, sub_index: 2, type: int32 } # Position actual value
    • { index: 0x6000, sub_index: 2, type: int32 } # Torque actual value
    • { index: 0x6000, sub_index: 3, type: int32 } # Mode of operation display
      #this is my config file 我的配置文件

@467480903
Copy link

must wait until the servo's mode in running mode ,
then send the ros topic command to make the servo run to some position,

during the ininiting process, there are some consoles woudl displayed ,

you can paste these ros output here , to disgnositc well

@11wanqin
Copy link
Author

qin@qin:$ ros2 launch ethercat_motor_drive motor_drive.launch.py --debug
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.IncludeLaunchDescription'
[INFO] [launch]: All log files can be found below /home/qin/.ros/log/2025-03-11-18-01-08-508771-qin-8797
[INFO] [launch]: Default logging verbosity is set to DEBUG
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x7f1cff1aae30>'
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x7f1cff1aae30>' ✓ '<launch.event_handlers.on_include_launch_description.OnIncludeLaunchDescription object at 0x7f1cfda93c40>'
Executing <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:228> result=None created at /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py:318> took 0.160 seconds
[INFO] [ros2_control_node-1]: process started with pid [8800]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [robot_state_publisher-2]: process started with pid [8802]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [spawner-3]: process started with pid [8804]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[INFO] [spawner-4]: process started with pid [8806]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessStarted'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7f1cfd7e8c10>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7f1cfd7ea8c0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_started.ProcessStarted object at 0x7f1cfd7ea380>'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd802530>'
[robot_state_publisher-2] [INFO] [1741687268.696512308] [robot_state_publisher]: got segment world
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [WARN] [1741687268.696961339] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '/robot_description' topic from 'robot_state_publisher' instead.
[ros2_control_node-1] [INFO] [1741687268.697067405] [resource_manager]: Loading hardware 'motor_drive'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd7ea470>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd7ea470>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [INFO] [1741687268.698058416] [resource_manager]: Initialize hardware 'motor_drive'
[ros2_control_node-1] [INFO] [1741687268.698090358] [EthercatDriver]: joints
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [INFO] [1741687268.699402773] [EthercatDriver]: Got 1 modules
[ros2_control_node-1] [INFO] [1741687268.699427206] [resource_manager]: Successful initialization of hardware 'motor_drive'
[ros2_control_node-1] [INFO] [1741687268.699462790] [resource_manager]: 'configure' hardware 'motor_drive'
[ros2_control_node-1] [INFO] [1741687268.699468761] [resource_manager]: Successful 'configure' of hardware 'motor_drive'
[ros2_control_node-1] [INFO] [1741687268.699471977] [resource_manager]: 'activate' hardware 'motor_drive'
[ros2_control_node-1] [INFO] [1741687268.699474654] [EthercatDriver]: Starting ...please wait...
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7f1cfd803700>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x60ff, 0x0}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x607a, 0x0}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x6071, 0x0}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x6040, 0x0}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x6081, 0x0}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x6060, 0x0}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x6064, 0x0}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x6077, 0x0}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x603f, 0x0}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x6041, 0x0}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x6020, 0x3}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x6061, 0x0}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x6020, 0x1}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x6020, 0x2}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x6000, 0x2}
[ros2_control_node-1] {0, 0, 0x9, 0x9253, 0x6000, 0x3}
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e0cd0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e0cd0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [INFO] [1741687268.741733164] [EthercatDriver]: Activated EcMaster!
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e0cd0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e0cd0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd803dc0>'
[spawner-4] [INFO] [1741687268.889970884] [spawner_trajectory_controller]: waiting for service /controller_manager/list_controllers to become available...
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e0cd0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e0cd0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd802bc0>'
[spawner-3] [INFO] [1741687268.890257846] [spawner_joint_state_broadcaster]: waiting for service /controller_manager/list_controllers to become available...
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [INFO] [1741687269.742354815] [EthercatDriver]: updated!
[ros2_control_node-1] [INFO] [1741687269.742542314] [EthercatDriver]: System Successfully started!
[ros2_control_node-1] [INFO] [1741687269.742615691] [resource_manager]: Successful 'activate' of hardware 'motor_drive'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [INFO] [1741687269.751968293] [controller_manager]: update rate is 100 Hz
[ros2_control_node-1] [INFO] [1741687269.751996824] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [WARN] [1741687269.752124808] [controller_manager]: No real-time kernel detected on this system. See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e11b0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e11b0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [INFO] [1741687269.893741949] [controller_manager]: Loading controller 'trajectory_controller'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e11b0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e11b0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [WARN] [1741687269.901141005] [trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e11b0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e11b0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [INFO] [1741687269.902560552] [controller_manager]: Loading controller 'joint_state_broadcaster'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd803dc0>'
[spawner-4] [INFO] [1741687269.903244322] [spawner_trajectory_controller]: Loaded trajectory_controller
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [INFO] [1741687269.912508582] [controller_manager]: Configuring controller 'trajectory_controller'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [INFO] [1741687269.912710374] [trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-1] [INFO] [1741687269.912743155] [trajectory_controller]: Command interfaces are [position] and state interfaces are [position].
[ros2_control_node-1] [INFO] [1741687269.912771780] [trajectory_controller]: Using 'splines' interpolation method.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e11b0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e11b0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd802bc0>'
[spawner-3] [INFO] [1741687269.913597163] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [INFO] [1741687269.915097503] [trajectory_controller]: Controller state will be published at 50.00 Hz.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [INFO] [1741687269.917433187] [trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [INFO] [1741687269.922637559] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd803700>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd800250>'
[ros2_control_node-1] [INFO] [1741687269.922736665] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e11b0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e11b0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd803dc0>'
[spawner-4] [INFO] [1741687269.953375382] [spawner_trajectory_controller]: Configured and activated trajectory_controller
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e11b0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7f1cfd8e11b0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7f1cfd802bc0>'
[spawner-3] [INFO] [1741687269.973309599] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [spawner-4]: process has finished cleanly [pid 8806]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7f1cfd8e11b0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7f1cfd8e11b0>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x7f1cfd803be0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7f1cfd8e11b0>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x7f1cfd803cd0>'
[INFO] [spawner-3]: process has finished cleanly [pid 8804]
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.process.ProcessExited'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7f1cfd8037c0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7f1cfd8037c0>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x7f1cfd802da0>'
[DEBUG] [launch]: processing event: '<launch.events.process.process_exited.ProcessExited object at 0x7f1cfd8037c0>' ✓ '<launch.event_handlers.on_process_exit.OnProcessExit object at 0x7f1cfd802cb0>'

this is the consoles displayed

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
2 participants
@11wanqin @467480903