Understanding the Internals of MotoROS2 Trajectory Validation

[lkaising]

Understanding the Internals of MotoROS2 Trajectory Validation

I am investigating how MotoROS2 handles trajectory validation, focusing specifically on the following error:

[moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'follow_joint_trajectory' failed with error unknown error: Trajectory must contain at least two points.

Important Note: I am not seeking help to fix this error. Instead, my goal is to understand the internal mechanics within MotoROS2 that lead to this validation failure. By gaining this understanding, I aim to identify the "do's and don'ts" to avoid this error entirely in future implementations.

Context

While executing trajectory plans to move a robot to specific (x, y, z) coordinates, I have observed inconsistent success rates. These seem to depend heavily on the robot's current state, even when the trajectory plans appear identical.

What I’m Looking to Understand

1. Trajectory Validation Process: How does MotoROS2 validate incoming trajectories?
2. Validation Timing: At what point in MotoROS2's execution pipeline is the trajectory point count checked?
3. Involved Components: What components within MotoROS2 are responsible for this validation?

Goal

By understanding the internals of MotoROS2, I hope to uncover why seemingly identical trajectory plans can result in different outcomes depending on the robot's initial state.

Thanks in advance for any insights or explanations!

[gavanderhoorn]

While we can summarise it at a high-level, let me first just point you to the implementation:

motoros2/src/MotionControl.c

Lines 30 to 258 in 0f0a510

	Init_Trajectory_Status Ros_MotionControl_Init(rosidl_runtime_c__String__Sequence* sequenceGoalJointNames, trajectory_msgs__msg__JointTrajectoryPoint__Sequence* sequenceOfPoints)
	{
	long pulsePos[MAX_PULSE_AXES];
	long curPos[MAX_PULSE_AXES];
	int grpIndex, jointIndexInTraj, pointIndex, checkForDupIndex;
	//Verify we're not already running a trajectory
	for (grpIndex = 0; grpIndex < g_Ros_Controller.numGroup; grpIndex += 1)
	{
	if (g_Ros_Controller.ctrlGroups[grpIndex]->hasDataToProcess)
	{
	Ros_Debug_BroadcastMsg("Already processing trajectory data - Rejecting new trajectory (Group #%d)",
	g_Ros_Controller.ctrlGroups[grpIndex]->groupNo);
	return INIT_TRAJ_ALREADY_IN_MOTION;
	}
	}
	Ros_MotionControl_AllGroupsInitComplete = FALSE;
	//Init internal storage for each group
	for (grpIndex = 0; grpIndex < g_Ros_Controller.numGroup; grpIndex += 1)
	{
	g_Ros_Controller.ctrlGroups[grpIndex]->trajectoryIterator = NULL;
	bzero(g_Ros_Controller.ctrlGroups[grpIndex]->trajectoryToProcess, sizeof(JointMotionData) * MAX_NUMBER_OF_POINTS_PER_TRAJECTORY);
	}
	//------------------------------------------------------------
	//The trajectory contains information for all groups. Determine which groups are used by looking at the 'joint names'.
	BOOL bGroupIsUsed[MAX_CONTROLLABLE_GROUPS];
	bzero(bGroupIsUsed, sizeof(bGroupIsUsed));
	if (g_Ros_Controller.totalAxesCount != sequenceGoalJointNames->size)
	{
	Ros_Debug_BroadcastMsg("Trajectory must contain data for all %d joints.", g_Ros_Controller.totalAxesCount);
	return INIT_TRAJ_INCOMPLETE_JOINTLIST;
	}
	//for each point in the trajectory
	for (pointIndex = 0; pointIndex < sequenceOfPoints->size; pointIndex += 1)
	{
	//verify that we have positions for each axis
	if (sequenceOfPoints->data[pointIndex].positions.size != g_Ros_Controller.totalAxesCount)
	{
	Ros_Debug_BroadcastMsg("Each point in the trajectory must have positions for all axes (pt: %d).", pointIndex);
	return INIT_TRAJ_WRONG_NUMBER_OF_POSITIONS;
	}
	//verify that we have velocities for each axis
	if (sequenceOfPoints->data[pointIndex].velocities.size != g_Ros_Controller.totalAxesCount)
	{
	Ros_Debug_BroadcastMsg("Each point in the trajectory must have velocities for all axes (pt: %d).", pointIndex);
	return INIT_TRAJ_WRONG_NUMBER_OF_VELOCITIES;
	}
	}
	//===================================
	//When a goal is received, the all of the points in the trajectory are processed, one joint at a time.
	//For each of those joints, this iterates over all of the CtrlGroup objects and compares the joint names.
	//This allows it to find the correct CtrlGroup object and the joint index (in moto order) in the JointMotionData array.
	//===================================
	//for each joint/axis in a single trajectory point
	for (jointIndexInTraj = 0; jointIndexInTraj < sequenceGoalJointNames->size; jointIndexInTraj += 1)
	{
	int jointIndexInCtrlGroup;
	CtrlGroup* ctrlGroup;
	//check to ensure there are no duplicate joint names in the list
	for (checkForDupIndex = (jointIndexInTraj + 1); checkForDupIndex < sequenceGoalJointNames->size; checkForDupIndex += 1)
	{
	if (strncmp(sequenceGoalJointNames->data[jointIndexInTraj].data,
	sequenceGoalJointNames->data[checkForDupIndex].data,
	MAX_JOINT_NAME_LENGTH) == 0)
	{
	Ros_Debug_BroadcastMsg("Joint name [%s] is used for multiple joints in the trajectory (indices: %d and %d).", sequenceGoalJointNames->data[jointIndexInTraj].data, jointIndexInTraj, checkForDupIndex);
	return INIT_TRAJ_DUPLICATE_JOINT_NAME;
	}
	}
	//find the ctrlgroup for this joint
	BOOL bFound = FALSE;
	for (grpIndex = 0; grpIndex < MAX_CONTROLLABLE_GROUPS; grpIndex += 1)
	{
	ctrlGroup = g_Ros_Controller.ctrlGroups[grpIndex];
	if (!ctrlGroup)
	continue;
	for (jointIndexInCtrlGroup = 0; jointIndexInCtrlGroup < MP_GRP_AXES_NUM; jointIndexInCtrlGroup += 1)
	{
	char* jointName = ctrlGroup->jointNames_userDefined[jointIndexInCtrlGroup];
	if (strlen(jointName) != 0)
	{
	if (strcmp(jointName, sequenceGoalJointNames->data[jointIndexInTraj].data) == 0)
	{
	bFound = TRUE;
	break;
	}
	}
	}
	if (bFound)
	break;
	}
	if (!bFound)
	{
	Ros_Debug_BroadcastMsg("Joint name [%s] is not valid. Check motoros2_config.yaml and update accordingly.", sequenceGoalJointNames->data[jointIndexInTraj].data);
	Ros_Debug_BroadcastMsg("Valid names:");
	for (int groupIndex = 0; groupIndex < MAX_CONTROLLABLE_GROUPS; groupIndex += 1)
	{
	for (int jointIndex = 0; jointIndex < MP_GRP_AXES_NUM; jointIndex += 1)
	{
	char* configListEntry = g_nodeConfigSettings.joint_names[(groupIndex * MP_GRP_AXES_NUM) + jointIndex];
	if (strlen(configListEntry) != 0)
	Ros_Debug_BroadcastMsg(" - %s", configListEntry);
	}
	}
	return INIT_TRAJ_INVALID_JOINTNAME;
	}
	//this processes all points in the trajectory array FOR A SINGLE AXIS at a time
	Init_Trajectory_Status convertStatus = Ros_MotionControl_ConvertTrajectoryToJointMotionData(sequenceOfPoints, jointIndexInTraj, ctrlGroup, jointIndexInCtrlGroup, ctrlGroup->trajectoryToProcess);
	if (convertStatus != INIT_TRAJ_OK)
	return convertStatus;
	bGroupIsUsed[grpIndex] = TRUE;
	} //for each joint in a single trajectory point
	for (grpIndex = 0; grpIndex < g_Ros_Controller.numGroup; grpIndex += 1)
	{
	if (!bGroupIsUsed[grpIndex])
	continue;
	CtrlGroup* ctrlGroup = g_Ros_Controller.ctrlGroups[grpIndex];
	Ros_Debug_BroadcastMsg("Initializing trajectory for group #%d", ctrlGroup->groupNo);
	//---------------
	// For MPL80/100 robot type (SLU-BT): Controller automatically moves the B-axis
	// to maintain orientation as other axes are moved.
	if (ctrlGroup->bIsBaxisSlave)
	{
	for (int i = 0; i < sequenceOfPoints->size; i += 1)
	{
	//This is radians in MOTO joint order
	ctrlGroup->trajectoryToProcess[i].pos[4] += -ctrlGroup->trajectoryToProcess[i].pos[1] + ctrlGroup->trajectoryToProcess[i].pos[2];
	ctrlGroup->trajectoryToProcess[i].vel[4] += -ctrlGroup->trajectoryToProcess[i].vel[1] + ctrlGroup->trajectoryToProcess[i].vel[2];
	}
	}
	ctrlGroup->prevTrajectoryIterator = ctrlGroup->trajectoryToProcess; //reset iterator
	// Assign start position
	ctrlGroup->timeLeftover_ms = 0;
	ctrlGroup->q_time = ctrlGroup->prevTrajectoryIterator->time;
	//Convert start position to pulse format
	// ctrlGroup->prevTrajectoryIterator->pos is already in moto joint order
	Ros_CtrlGroup_ConvertRosUnitsToMotoUnits(ctrlGroup, ctrlGroup->prevTrajectoryIterator->pos, pulsePos);
	Ros_CtrlGroup_GetPulsePosCmd(ctrlGroup, curPos);
	// Initialize prevPulsePos to the current position
	Ros_CtrlGroup_GetPulsePosCmd(ctrlGroup, ctrlGroup->prevPulsePos);
	// Check for each axis
	for (int i = 0; i < MAX_PULSE_AXES; i++)
	{
	// Check if position matches current command position
	if (abs(pulsePos[i] - curPos[i]) > START_MAX_PULSE_DEVIATION)
	{
	Ros_Debug_BroadcastMsg("ERROR: Trajectory start position doesn't match current position (MOTO joint order).");
	Ros_Debug_BroadcastMsg(" - Requested start: %ld, %ld, %ld, %ld, %ld, %ld, %ld, %ld",
	pulsePos[0], pulsePos[1], pulsePos[2],
	pulsePos[3], pulsePos[4], pulsePos[5],
	pulsePos[6], pulsePos[7]);
	Ros_Debug_BroadcastMsg(" - Current pos: %ld, %ld, %ld, %ld, %ld, %ld, %ld, %ld",
	curPos[0], curPos[1], curPos[2],
	curPos[3], curPos[4], curPos[5],
	curPos[6], curPos[7]);
	Ros_Debug_BroadcastMsg(" - ctrlGroup->prevPulsePos: %ld, %ld, %ld, %ld, %ld, %ld, %ld, %ld",
	ctrlGroup->prevPulsePos[0], ctrlGroup->prevPulsePos[1], ctrlGroup->prevPulsePos[2],
	ctrlGroup->prevPulsePos[3], ctrlGroup->prevPulsePos[4], ctrlGroup->prevPulsePos[5],
	ctrlGroup->prevPulsePos[6], ctrlGroup->prevPulsePos[7]);
	for (grpIndex = 0; grpIndex < g_Ros_Controller.numGroup; grpIndex += 1)
	{
	g_Ros_Controller.ctrlGroups[grpIndex]->hasDataToProcess = FALSE;
	g_Ros_Controller.ctrlGroups[grpIndex]->trajectoryIterator = NULL;
	bzero(g_Ros_Controller.ctrlGroups[grpIndex]->trajectoryToProcess, sizeof(JointMotionData) * MAX_NUMBER_OF_POINTS_PER_TRAJECTORY);
	}
	return INIT_TRAJ_INVALID_STARTING_POS;
	}
	// Check maximum velocity limit
	if (abs(ctrlGroup->prevTrajectoryIterator->vel[i]) > ctrlGroup->maxSpeed[i])
	{
	Ros_Debug_BroadcastMsg("ERROR: Command of (%.4f) exceeds the speed limit of (%.4f) for axis %d", ctrlGroup->prevTrajectoryIterator->vel[i], ctrlGroup->maxSpeed[i], i);
	for (grpIndex = 0; grpIndex < g_Ros_Controller.numGroup; grpIndex += 1)
	{
	g_Ros_Controller.ctrlGroups[grpIndex]->hasDataToProcess = FALSE;
	g_Ros_Controller.ctrlGroups[grpIndex]->trajectoryIterator = NULL;
	bzero(g_Ros_Controller.ctrlGroups[grpIndex]->trajectoryToProcess, sizeof(JointMotionData) * MAX_NUMBER_OF_POINTS_PER_TRAJECTORY);
	}
	// excessive speed
	return INIT_TRAJ_INVALID_VELOCITY;
	}
	}
	//Although there are additional groups to process, we'll set this flag to indicate that the point is ready for processing.
	//The Ros_MotionControl_AllGroupsInitComplete flag has not been set yet. That will prevent the AddToIncQueueProcess loop
	//from processing increments before all groups are synchronized.
	for (int i = 0; i < sequenceOfPoints->size; i += 1)
	{
	ctrlGroup->trajectoryToProcess[i].valid = TRUE;
	}
	ctrlGroup->trajectoryIterator = &ctrlGroup->trajectoryToProcess[1];
	ctrlGroup->hasDataToProcess = TRUE;
	Ros_Debug_BroadcastMsg("Group #%d - Trajectory is ready for processing", ctrlGroup->groupNo);
	} //for each group in the controller
	Ros_MotionControl_AllGroupsInitComplete = TRUE;
	return INIT_TRAJ_OK;
	}

As to your specific questions:

1. Trajectory Validation Process: How does MotoROS2 validate incoming trajectories?

see the above linked function.

2. Validation Timing: At what point in MotoROS2's execution pipeline is the trajectory point count checked?

immediately after receiving a new goal.

As part of the goal 'acceptance' it's validated. Ideally we'd reject it immediately if validation failed, but instead we always accept it and then abort if/when needed without actually executing anything.

We do it this way as a server can't provide any 'cause' code or other information to a client when rejecting a goal. This is a limitation in the ROS 2 action implementation. By first accepting it we can abort and send an action result along with the abort notification.

That's where the Trajectory must contain at least two points error is passed to the client.

That result_code is returned by the validation code here:

motoros2/src/MotionControl.c

Lines 265 to 266 in 0f0a510

	if (pending_ros_goal_request == NULL || pending_ros_goal_request->goal.trajectory.points.size < MIN_NUMBER_OF_POINTS_PER_TRAJECTORY)
	return INIT_TRAJ_TOO_SMALL;

With MIN_NUMBER_OF_POINTS_PER_TRAJECTORY defined here:

motoros2/src/ActionServer_FJT.h

Line 12 in 0f0a510

#define MIN_NUMBER_OF_POINTS_PER_TRAJECTORY 2 //current position and destination

3. Involved Components: What components within MotoROS2 are responsible for this validation?

Does the link I included earlier answer this?

By understanding the internals of MotoROS2, I hope to uncover why seemingly identical trajectory plans can result in different outcomes depending on the robot's initial state.

Are you using MoveIt, or are you creating FollowJointTrajectoryGoals manually? From your description it sounds like you're using something which plans for you.

I ask because MoveIt should always create trajectories with at least two points in them.

If you're doing it manually, you need to make sure trajectories start at the current state of the robot (ie: JointState) and then contain at least one more point, which would be where you'd like your robot to end up.

[lkaising]

I did the XRCE-DDS capture, and what I found is that for the first trajectory goal coordPoint1, only one packet is being sent out. For the rest of the trajectory goals, they are receiving the correct number of packets. This leads me to believe that the issue is not that the trajectory plans are 'disappearing', but that the first trajectory plan is failing at some point either in my system, MTC, or ROS.

For the XRCE-DDS capture, I wanted to finalize a debugging tool where you could just run a shell script in the background while manipulating your robot, and after killing the shell script, have a Python script automatically parse through the generated pcap file. But it just turned into too much of a hassle. What I did end up finishing was a script that takes in hex packets (that you have to manually extract from the pcap file) and spits out the respective trajectory point values. The script only supports packets with exclusively trajectory goal points and does not parse the initial packets containing the initial joint values, joint names, or the world frame name.

Here was the shell and python scripts, if interested:

Click to expand

#!/bin/bash

set -euo pipefail

SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
CAPTURE_DIR="${SCRIPT_DIR}/captures"
XRCE_DDS_PORT=8888
DEBUG_PORT=21789
TIMESTAMP=$(date "+%H-%M-%S_%B-%d-%Y")

BASE_FILE="${CAPTURE_DIR}/motoros2_debug_${TIMESTAMP}"
PCAP_FILE="${BASE_FILE}.pcap"
TRAJECTORY_FILE="${PCAP_FILE}_trajectory_data.txt"
DEBUG_FILE="${PCAP_FILE}_debug.txt"
SUMMARY_FILE="${PCAP_FILE}_summary.txt"

for cmd in tshark capinfos; do
    if ! command -v "$cmd" &>/dev/null; then
        echo "Error: '$cmd' is not installed. Please install it (e.g., sudo apt-get install tshark)."
        exit 1
    fi
done

mkdir -p "$CAPTURE_DIR"

extract_data() {
    local port="$1"
    local output="$2"
    tshark -r "$PCAP_FILE" -Y "udp.port == $port" -T fields \
           -e frame.time_epoch -e data > "$output"
}

cleanup() {
    echo -e "\nStopping capture..."
    kill "$tshark_pid" 2>/dev/null || true

    echo "Processing captured data..."
    extract_data "$XRCE_DDS_PORT" "$TRAJECTORY_FILE"
    extract_data "$DEBUG_PORT" "$DEBUG_FILE"

    echo "Generating capture summary..."
    capinfos "$PCAP_FILE" > "$SUMMARY_FILE"

    echo "Capture complete. Files saved in: $CAPTURE_DIR"
    exit 0
}

trap cleanup INT TERM

echo "Starting XRCE-DDS traffic capture..."
echo "Capturing ports:"
echo "  - $XRCE_DDS_PORT (XRCE-DDS trajectory data)"
echo "  - $DEBUG_PORT (debug logs)"
echo "Output will be saved to: $PCAP_FILE"
echo "Press Ctrl+C to stop capture."
echo "-----------------------------------"

tshark -i any -f "udp port $XRCE_DDS_PORT or udp port $DEBUG_PORT" \
       -w "$PCAP_FILE" -P -s 0 -q &

tshark_pid=$!
wait "$tshark_pid"

Python:

Click to expand

import struct
from dataclasses import dataclass
from typing import List, Tuple

@dataclass
class JointStateSet:
    positions: List[float]
    velocities: List[float]
    efforts: List[float]

class JointStateDecoder:
    ARRAY_LENGTH_SIZE = 4       # bytes
    DOUBLE_SIZE = 8             # bytes
    VELOCITY_PADDING = 4        # bytes
    EFFORT_PADDING = 4          # bytes
    EFFORT_END_PADDING = 12     # bytes
    JOINT_STATE_SET_SIZE = 176  # bytes

    def __init__(self, hex_packets: List[str]):
        self.hex_packets = hex_packets
        self.joint_state_sets: List[JointStateSet] = []

    def process_packets(self) -> bytes:
        assembled_data = bytearray()
        for hex_packet in self.hex_packets:
            hex_string = ''.join(hex_packet.split())
            packet_data = bytes.fromhex(hex_string)
            # Skip the 8-byte header
            assembled_data.extend(packet_data[8:])
        return bytes(assembled_data)

    def parse_array_section(
        self,
        data: bytes,
        offset: int,
        section_name: str,
        padding_bytes: int = 0,
        end_padding: int = 0,
        debug: bool = False
    ) -> Tuple[List[float], int]:
        # Read array length (4 bytes)
        array_length = struct.unpack_from('<I', data, offset)[0]
        array_length_hex = ' '.join(f"{byte:02x}" for byte in data[offset:offset + self.ARRAY_LENGTH_SIZE])
        current_pos = offset + self.ARRAY_LENGTH_SIZE + padding_bytes

        if debug:
            print(f"{section_name} Array Length: {array_length:2d}  →  Hex: {array_length_hex}")

        # Read values (8 bytes each)
        values = []
        for i in range(array_length):
            value = struct.unpack_from('<d', data, current_pos)[0]
            if debug:
                hex_val = ' '.join(f"{byte:02x}" for byte in data[current_pos:current_pos + self.DOUBLE_SIZE])
                print(f"Joint {i + 1} {section_name:<8}: {value:8.3f}  →  Hex: {hex_val}")
            values.append(value)
            current_pos += self.DOUBLE_SIZE

        # Handle end padding if any
        current_pos += end_padding

        if debug:
            print()

        return values, current_pos

    def parse_joint_state_set(
        self,
        data: bytes,
        offset: int,
        set_number: int,
        debug: bool = False
    ) -> Tuple[JointStateSet, int]:
        if debug:
            print(f"\nJoint State Set {set_number}:")
            print("═" * 80)

        positions, current_pos = self.parse_array_section(
            data, offset, "Position", debug=debug
        )

        velocities, current_pos = self.parse_array_section(
            data, current_pos, "Velocity", padding_bytes=self.VELOCITY_PADDING, debug=debug
        )

        efforts, current_pos = self.parse_array_section(
            data, current_pos, "Effort", padding_bytes=self.EFFORT_PADDING, end_padding=self.EFFORT_END_PADDING, debug=debug
        )

        if debug:
            print("─" * 80)

        joint_state_set = JointStateSet(positions, velocities, efforts)
        return joint_state_set, current_pos

    def format_joint_state_set(self, joint_state: JointStateSet, set_number: int) -> str:
        set_header = f"Joint State Set {set_number}:"
        pos_str = "Positions:  [" + ", ".join(f"{p:>8.3f}" for p in joint_state.positions) + "]"
        vel_str = "Velocities: [" + ", ".join(f"{v:>8.3f}" for v in joint_state.velocities) + "]"
        eff_str = "Efforts:    [" + ", ".join(f"{e:>8.3f}" for e in joint_state.efforts) + "]"
        return f"{set_header}\n{pos_str}\n{vel_str}\n{eff_str}\n"

    def decode_joint_state_message(self, debug: bool = False) -> List[JointStateSet]:
        data = self.process_packets()
        num_sets = len(data) // self.JOINT_STATE_SET_SIZE

        if debug:
            print("Message Information:")
            print("═" * 80)
            print(f"Total message length: {len(data)} bytes")
            print(f"Number of complete sets: {num_sets}")
            print("─" * 80)

        joint_state_sets = []
        current_pos = 0

        for i in range(num_sets):
            joint_state_set, current_pos = self.parse_joint_state_set(
                data, current_pos, i + 1, debug=debug
            )
            joint_state_sets.append(joint_state_set)

            if not debug:
                print(self.format_joint_state_set(joint_state_set, i + 1))

        self.joint_state_sets = joint_state_sets
        return joint_state_sets

if __name__ == "__main__":
    
    packets_1 = [
        """
        81 80 73 00 0d 01 f4 01 06 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 38 10 13 42 df 44 f5 3e 6c 14 ae 47 e1 7a 84 bf 00 00 00 00 00 00 00 00 06 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 8a 90 90 90 90 90 d0 be 92 99 99 99 99 99 b9 bf 00 00 00 00 00 00 00 00 06 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 b6 c5 b4 b4 b4 b4 f4 be b2 0c 00 00 00 00 e0 bf 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 c2 eb 0b 06 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 b5 8b 8e bd 5a c0 f4 3e f0 d6 a3 70 3d 0a 97 bf 00 00 00 00 00 00 00 00 06 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 50 d9 d8 d8 d8 d8 d8 be 91 33 33 33 33 33 c3 bf 00 00 00 00 00 00 00 00 06 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 b3 40 b5 b4 b4 b4 f4 be 6c 6b 00 00 00 00 e0 bf 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 a3 e1 11 06 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 fb 9e 6e 6a d4 06 f4 3e 6b 14 ae 47 e1 7a a4 bf 00 00 00 00 00 00 00 00 06 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 58 90 90 90 90 90 e0 be 45 99 99 99 99 99 c9 bf 00 00 00 00 00 00 00 00 06 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 7c 3e b4 b4 b4 b4 f4 be
        """,
        """
        81 80 74 00 0d 01 f4 01 68 48 ff ff ff ff df bf 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 84 d7 17 06 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0d 4a b3 48 4c 18 f3 3e f3 ff ff ff ff ff af bf 00 00 00 00 00 00 00 00 06 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 09 b4 b4 b4 b4 b4 e4 be fb fe ff ff ff ff cf bf 00 00 00 00 00 00 00 00 06 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 33 3f b3 b4 b4 b4 f4 be e0 bd fd ff ff ff df bf 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 65 cd 1d 06 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ea 8c 5c 58 c2 f4 f1 3e 04 d7 a3 70 3d 0a b7 bf 00 00 00 00 00 00 00 00 06 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 fb d7 d8 d8 d8 d8 e8 be 8a 32 33 33 33 33 d3 bf 00 00 00 00 00 00 00 00 06 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 63 37 b3 b4 b4 b4 f4 be 28 b2 fd ff ff ff df bf 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 46 c3 23 06 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 fe 86 08 9e 36 9c f0 3e 52 e4 36 d9 28 5c bf bf 00 00 00 00 00 00 00 00 06 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 8b d2 b7 74 fc fc ec be 52 ae 19 fd 65 66 d6 bf 00 00 00 00 00 00 00 00 06 00 00 00 00 00 00 00 00 00 00 00
        """,
        """
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        """,
        """
        81 80 86 00 0d 01 f4 01 8d a4 9f bf 47 f9 15 14 0b 28 d3 bf 66 f7 49 b3 26 c7 db bf 56 9b c7 6d 9c d0 a4 bf 40 9a 00 00 00 00 e0 3f a8 3a 03 f2 3a 99 a7 3f 00 00 00 00 00 00 00 00 00 27 b9 29 06 00 00 00 2f d7 13 2f e4 ab a1 3f 2d b3 76 18 7e 65 d5 3f 34 c6 8a b5 af 06 df 3f b4 2e 89 ec b4 3f a7 3f 13 c2 8c 29 f6 de e1 bf d6 ea 32 c4 a7 5b aa bf 06 00 00 00 00 00 00 00 70 cd da cf 70 50 99 bf f9 5c 0f a2 77 a6 ce bf 25 ad 38 67 eb 38 d6 bf e3 0d 87 46 e3 a6 a0 bf 39 e1 4c 30 99 99 d9 3f d7 50 27 a7 fb e0 a2 3f 06 00 00 00 00 00 00 00 ae 31 f4 85 8d a4 9f bf 6f 31 12 14 0b 28 d3 bf 70 7f 44 b3 26 c7 db bf f2 84 c3 6d 9c d0 a4 bf 41 e6 fa ff ff ff df 3f d1 91 fe f1 3a 99 a7 3f 00 00 00 00 00 00 00 00 ff 07 af 2f 06 00 00 00 64 d9 88 30 9e 53 a0 3f fa 7d 7d 23 a6 c4 d3 3f 43 6b 72 18 3d aa dc 3f f0 c5 d8 5f c6 7a a5 3f ff 6f 14 39 cd 82 e0 bf 3a f0 63 a0 26 5a a8 bf 06 00 00 00 00 00 00 00 c6 e0 af ee 7e 7a 9c bf 9e 60 18 4e a3 3d d1 bf 59 d2 61 d8 08 00 d9 bf d7 c0 88 b2 bf bb a2 bf 9d 3b 3e 5b cc cc dc 3f b9 48 aa 1f 1b 3d a5 3f 06 00 00 00 00 00 00 00 16 a5 fc 85 8d a4 9f bf 4f 49 17 14 0b 28 d3 bf 5d e4 4b b3 26 c7 db bf 95 13 c9 6d 9c d0 a4 bf e6 b7 01 00 00 00 e0 3f 49 dd 04 f2 3a 99 a7 3f 00 00 00 00 00 00 00 00 ff e8 a4 35 06 00 00 00 32 58 73 fa ae a5 9d 3f f3 25 2e d5 c3 f2 d1 3f 4c 08 fe ef ad 06 da 3f 28 dd 1f 95 8e 80 a3 3f 89 17 e0 0c 5d fb dd bf 1d 6b 7e f0 3b 1c a6 bf 06 00 00 00 00 00 00 00 84 34 af 15 8d a4 9f bf e2 80 1a d0 0a 28 d3 bf 52 ea b5 50 26 c7 db bf e7 6f e9 23 9c d0 a4 bf
        """,
        """
        81 80 87 00 0d 01 f4 01 31 6f 71 8e ff ff df 3f c5 1e 44 9e 3a 99 a7 3f 06 00 00 00 00 00 00 00 22 c6 00 86 8d a4 9f bf aa c7 19 14 0b 28 d3 bf 01 83 4f b3 26 c7 db bf 09 c2 cb 6d 9c d0 a4 bf df cb 03 00 00 00 e0 3f a1 f2 07 f2 3a 99 a7 3f 00 00 00 00 00 00 00 00 ff c9 9a 3b 06 00 00 00 3e 3f 8d 29 20 53 9a 3f d3 9f 29 5a ae df cf 3f c0 9d 85 3b 02 1c d7 3f 6c 91 e0 8b 0d 51 a1 3f 58 a2 7d 22 34 9f da bf b6 a2 f3 b3 e7 a1 a3 bf 06 00 00 00 00 00 00 00 bd b2 34 9c 4d 67 a1 bf 66 d9 86 4f 72 12 d5 bf 84 63 4a c5 43 8e de bf 10 0c 7b 92 78 e5 a6 bf 6b 94 a9 5e 99 99 e1 3f ac b7 ae 19 5a f5 a9 3f 06 00 00 00 00 00 00 00 98 d2 18 86 8d a4 9f bf ac 5f 28 14 0b 28 d3 bf f1 a0 64 b3 26 c7 db bf fe 96 db 6d 9c d0 a4 bf af f3 0f 00 00 00 e0 3f 16 e6 19 f2 3a 99 a7 3f 00 00 00 00 01 00 00 00 ff e0 f5 05 06 00 00 00 54 37 eb 51 93 af 96 3f 68 02 ce 70 c4 77 cb 3f ea ae 9e f4 3c ea d3 3f e6 73 91 fd 8a d8 9d 3f d6 81 58 20 23 f1 d6 bf 21 38 c3 71 2c eb a0 bf 06 00 00 00 00 00 00 00 67 8c b8 59 fa f1 a2 bf f5 8a f7 cf 50 f0 d6 bf 45 66 1d ff 99 a1 e0 bf f2 4c 68 30 b6 ec a8 bf 5a 02 d9 b6 ba 28 e3 3f e2 1d bc 75 08 42 ac 3f 06 00 00 00 00 00 00 00 92 b3 db 85 8d a4 9f 3f 58 64 03 14 0b 28 d3 3f 9c 05 2f b3 26 c7 db 3f 21 67 b3 6d 9c d0 a4 3f 61 28 e2 ff ff ff df bf 87 57 ec f1 3a 99 a7 bf 00 00 00 00 01 00 00 00 00 c2 eb 0b 06 00 00 00 00 13 53 28 15 0e 93 3f 15 b7 9c 3a 58 12 c7 3f 60 02 9d 07 46 ba d0 3f 4c 43 06 cc af 11 99 3f 1e 11 56 be 26 45 d3 bf 3b 00 3d f2 f3 6b 9c bf 06 00 00 00 00 00 00 00 4e e2 38 46
        """,
        """
        81 80 88 00 0d 01 f4 01 f3 5c a1 bf 6d 6a f5 4d e9 05 d5 bf 28 b4 e6 85 16 7c de bf 90 9d 07 bf d9 d7 a6 bf 56 68 3f 1d 21 8f e1 3f 81 47 22 f7 e8 e5 a9 3f 06 00 00 00 00 00 00 00 ee f1 e2 85 8d a4 9f 3f 3c b4 07 14 0b 28 d3 3f ff 54 35 b3 26 c7 db 3f 75 24 b8 6d 9c d0 a4 3f 1d 66 e9 ff ff ff df bf 72 aa f1 f1 3a 99 a7 bf 00 00 00 00 01 00 00 00 00 a3 e1 11 06 00 00 00 61 54 0f d2 30 7b 8f 3f 24 72 05 b8 00 0f c3 3f 2e 7d 47 4d d7 a2 cb 3f d6 68 8e 17 67 b5 94 3f 64 b1 e4 c2 2b d6 cf bf b9 87 45 1a 62 7a 97 bf 06 00 00 00 00 00 00 00 6b 70 72 65 d8 8f 9f bf e3 49 f3 cb 81 1b d3 bf cb 9b 92 0d f9 b4 db bf 34 ee a6 4d fd c2 a4 bf a3 9c 4b 07 0f eb df 3f 1e 71 88 78 c9 89 a7 3f 06 00 00 00 00 00 00 00 4b ff e9 85 8d a4 9f 3f bd 02 0c 14 0b 28 d3 3f 1f 83 3b b3 26 c7 db 3f 9a ca bc 6d 9c d0 a4 3f c7 8e f0 ff ff ff df bf 07 fa f6 f1 3a 99 a7 bf 00 00 00 00 01 00 00 00 00 84 d7 17 06 00 00 00 d6 f9 11 28 3a 7c 89 3f 38 67 10 d2 7b db be 3f 24 c7 65 a3 5b 5f c6 3f 8a e4 29 e0 b0 c3 90 3f 30 b1 5a 13 e1 c5 c9 bf c8 06 a0 5b a3 01 93 bf 06 00 00 00 00 00 00 00 37 1c 73 3e ca 65 9c bf 5c 29 f1 49 1a 31 d1 bf 6a 83 3e 95 db ed d8 bf da 3e 46 dc 20 ae a2 bf 9b 68 18 d4 db b7 dc 3f b6 9a ee f9 a9 2d a5 3f 06 00 00 00 00 00 00 00 90 21 f1 85 8d a4 9f 3f a6 59 10 14 0b 28 d3 3f 81 d2 41 b3 26 c7 db 3f e2 79 c1 6d 9c d0 a4 3f 82 cc f7 ff ff ff df bf ec 45 fc f1 3a 99 a7 bf 00 00 00 00 01 00 00 00 00 65 cd 1d 06 00 00 00 56 16 ae 52 46 1f 84 3f ef f6 49 9b 1f 5d b8 3f 9b e2 94 11 19 aa c1 3f c8 6c b1 4b 1a 79 8a 3f
        """,
        """
        81 80 89 00 0d 01 f4 01 98 21 0e 6e 6d 59 c4 bf bd fa 98 6c 6f 03 8e bf 06 00 00 00 00 00 00 00 16 c7 73 17 bc 3b 99 bf 82 10 de 8f 65 8d ce bf 3b 6a ea 1c be 26 d6 bf df 8e e5 6a 44 99 a0 bf a0 33 e5 a0 a8 84 d9 3f a1 c3 54 7b 8a d1 a2 3f 06 00 00 00 00 00 00 00 b4 02 ff 85 8d a4 9f 3f e8 bc 18 14 0b 28 d3 3f f9 fa 4d b3 26 c7 db 3f 06 a1 ca 6d 9c d0 a4 3f 4d e8 02 00 00 00 e0 bf d1 a7 06 f2 3a 99 a7 bf 00 00 00 00 01 00 00 00 00 46 c3 23 06 00 00 00 c1 53 c7 a3 aa c8 7e 3f 6e 93 b7 cb ec a2 b2 3f 23 9f a9 2f 1f 06 bb 3f c4 bc 35 d1 f7 3f 84 3f 3a 05 fe a5 a1 21 bf bf fa d6 95 54 3e f5 86 bf 06 00 00 00 00 00 00 00 d3 73 74 f0 ad 11 96 bf 8f d0 d9 8b 96 b8 ca bf ae 52 96 a4 a0 5f d3 bf 3e c0 09 f3 cf 08 9d bf 88 00 b2 6d 75 51 d6 3f f2 ed ba fc 6a 75 a0 3f 06 00 00 00 00 00 00 00 ca 1a 00 86 8d a4 9f 3f 55 65 19 14 0b 28 d3 3f 83 f5 4e b3 26 c7 db 3f 1c 54 cb 6d 9c d0 a4 3f bc 74 03 00 00 00 e0 bf 13 76 07 f2 3a 99 a7 bf 00 00 00 00 01 00 00 00 00 27 b9 29 06 00 00 00 ed 68 65 4b ce 96 76 3f 64 79 b2 c6 c6 59 ab 3f 0b 1c 4b 6c 7e d4 b3 3f 11 72 c1 a1 f4 b7 7d 3f 79 a8 5a 84 16 d8 b6 bf 43 a2 36 6f b3 d8 80 bf 06 00 00 00 00 00 00 00 8f 20 75 c9 9f e7 92 bf 9b 90 d5 87 c7 e3 c6 bf 2c 3b 42 2c 83 98 d0 bf bd 62 48 10 17 df 98 bf 71 cd 7e 3a 42 1e d3 3f 91 30 42 fc 96 32 9c 3f 06 00 00 00 00 00 00 00 9f 6a ff 85 8d a4 9f 3f 87 fa 18 14 0b 28 d3 3f a0 53 4e b3 26 c7 db 3f ae e1 ca 6d 9c d0 a4 3f f7 1c 03 00 00 00 e0 bf f5 ef 06 f2 3a 99 a7 bf 00 00 00 00 01 00 00 00 00 08 af 2f 06 00 00 00 85 d8 6c 38
        """,
        """
        81 80 8a 00 0d 01 f4 01 ef 51 6f 3f 96 e5 5d c4 06 f6 a2 3f 0f 78 1c b2 9f 7e ab 3f 49 c3 64 95 43 9a 74 3f 08 5a 64 ee 72 ac af bf 55 b9 f6 78 9d 5b 77 bf 06 00 00 00 00 00 00 00 9c 9a eb 44 23 7b 8f bf aa 50 d1 83 f8 0e c3 bf 40 47 dc 67 cb a2 cb bf 40 05 87 2d 5e b5 94 bf b5 34 97 0e 1e d6 cf 3f 33 85 0e ff 57 7a 97 3f 06 00 00 00 00 00 00 00 8c 74 fe 85 8d a4 9f 3f 54 66 18 14 0b 28 d3 3f 44 7d 4d b3 26 c7 db 3f 63 3d ca 6d 9c d0 a4 3f 54 a0 02 00 00 00 e0 bf 88 35 06 f2 3a 99 a7 bf 00 00 00 00 01 00 00 00 00 e9 a4 35 06 00 00 00 78 bb 74 2c 4d fe 63 3f cd d6 e2 20 33 35 98 3f 22 fe e5 eb 26 8d a1 3f 4e da aa fa b8 4d 6a 3f ac 25 09 fd 14 38 a4 bf b4 18 90 f1 40 d2 6d bf 06 00 00 00 00 00 00 00 f4 fa ec f6 06 27 89 bf bd 29 9a ff 52 74 be bf 2a 1e 34 77 90 14 c6 bf 43 ac c5 4a a5 8b 90 bf 75 d5 30 a8 b7 6f c9 3f ef de da 01 19 c2 92 3f 06 00 00 00 00 00 00 00 d5 81 e5 85 8d a4 9f 3f c5 4b 09 14 0b 28 d3 3f e5 97 37 b3 26 c7 db 3f b9 d5 b9 6d 9c d0 a4 3f af 04 ec ff ff ff df bf 48 9c f3 f1 3a 99 a7 bf 00 00 00 00 02 00 00 00 00 00 00 00 06 00 00 00 fc f4 c4 e5 6c 65 56 3f d9 2a b4 ab fc 1d 8b 3f 43 94 e5 0b 25 a9 93 3f 1d be 4d 66 fd 76 5d 3f 4c 67 47 69 26 a6 96 bf d7 7a c2 bb df b3 60 bf 06 00 00 00 00 00 00 00 c0 53 ee a8 ea d2 82 bf 04 a9 91 f7 b4 ca b6 bf 76 ee 8b 86 55 86 c0 bf 9f 9c 08 d0 d8 c3 88 bf 94 6e ca 41 51 09 c3 3f 16 66 4e 09 b4 13 8c 3f 06 00 00 00 00 00 00 00 36 91 ea 85 8d a4 9f 3f d9 5b 0c 14 0b 28 d3 3f 4c 06 3c b3 26 c7 db 3f 9a 2a bd 6d 9c d0 a4 3f bf 25 f1 ff ff ff df bf
        """,
        """
        81 80 8b 00 0d 01 f4 01 96 65 f7 f1 3a 99 a7 bf 00 00 00 00 02 00 00 00 00 e1 f5 05 06 00 00 00 0b 57 d8 2e ac bc 43 3f 19 1d 86 9e bc e5 77 3f f2 70 0b 01 8a 53 81 3f 4a 54 f6 50 61 f7 49 3f b1 10 d0 54 b6 f5 83 bf 7d 65 12 42 5d 70 4d bf 06 00 00 00 00 00 00 00 50 49 df b5 9c fd 78 bf 61 3d 12 df 2d 42 ae bf 7c 6f c7 2b 35 f0 b5 bf 50 d6 85 0a 67 70 80 bf 45 ff c7 b6 d5 45 b9 3f 74 02 e7 0e 36 a3 82 3f 06 00 00 00 00 00 00 00 40 32 01 86 8d a4 9f 3f 74 0f 1a 14 0b 28 d3 3f 14 e7 4f b3 26 c7 db 3f ee 0e cc 6d 9c d0 a4 3f cd 03 04 00 00 00 e0 bf 79 46 08 f2 3a 99 a7 bf 00 00 00 00 02 00 00 00 00 c2 eb 0b 06 00 00 00 3f d7 f8 6e af 3a 23 3f a0 c8 92 63 59 48 57 3f 14 49 63 ad 6d e1 60 3f 1c c9 ef de 5d 4c 29 3f 23 76 a1 eb 41 72 63 bf 5b 48 67 fd 7a ae 2c bf 06 00 00 00 00 00 00 00 4e 11 c4 33 c8 aa 68 bf 3d 99 02 9e e3 dd 9d bf 70 38 ee 94 7e a7 a5 bf f0 46 06 8a ea 39 70 bf fd 7e f6 d3 11 f2 a8 3f ec 69 ff 28 70 65 72 3f 06 00 00 00 00 00 00 00 65 12 f5 85 8d a4 9f 3f d8 b7 12 14 0b 28 d3 3f 9e 40 45 b3 26 c7 db 3f d0 13 c4 6d 9c d0 a4 3f e7 c4 fb ff ff ff df bf 78 3b ff f1 3a 99 a7 bf 00 00 00 00 02 00 00 00 00 a3 e1 11 06 00 00 00 00 61 07 45 f7 b2 02 3c a0 8b be 6c 05 a4 36 3c 60 25 8b 2a 49 6a 40 3c 40 10 e7 de cf 99 08 3c 00 af 92 87 01 e9 42 bc 00 d0 2f fc 0b e4 0b bc 06 00 00 00 00 00 00 00 12 1e 64 ab 3a 8a 47 3c 2a fc b4 f5 82 80 7c 3c b5 ee 96 79 2f aa 84 3c 3b 42 80 17 35 f8 4e 3c 9f ef bd 61 42 ce 87 bc 2e bf 85 bd 3d 8e 51 bc 06 00 00 00 00 00 00 00 66 62 22 86 8d a4 9f 3f 62 26 2e 14
        """,
        """
        81 80 8c 00 0d 03 60 00 0b 28 d3 3f 05 07 6d b3 26 c7 db 3f 10 e2 e1 6d 9c d0 a4 3f b4 cb 14 00 00 00 e0 bf b8 05 21 f2 3a 99 a7 bf 00 00 00 00 02 00 00 00 69 82 b0 17 00 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
        """
    ]

    decoder_1 = JointStateDecoder(packets_1)
    decoder_1.decode_joint_state_message(debug=False)
    decoder_2 = JointStateDecoder(packets_2)
    decoder_2.decode_joint_state_message(debug=False)
    decoder_3 = JointStateDecoder(packets_3)
    decoder_3.decode_joint_state_message(debug=False)

And here is the outputted result:

Click to expand

Joint State Set 1:
Positions:  [   0.000,    0.000,    0.000,    0.000,   -0.010,    0.000]
Velocities: [   0.000,    0.000,    0.000,   -0.000,   -0.100,    0.000]
Efforts:    [   0.000,    0.000,    0.000,   -0.000,   -0.500,    0.000]

Joint State Set 2:
Positions:  [   0.000,    0.000,    0.000,    0.000,   -0.022,    0.000]
Velocities: [   0.000,    0.000,    0.000,   -0.000,   -0.150,    0.000]
Efforts:    [   0.000,    0.000,    0.000,   -0.000,   -0.500,    0.000]

Joint State Set 3:
Positions:  [   0.000,    0.000,    0.000,    0.000,   -0.040,    0.000]
Velocities: [   0.000,    0.000,    0.000,   -0.000,   -0.200,    0.000]
Efforts:    [   0.000,    0.000,    0.000,   -0.000,   -0.500,    0.000]

Joint State Set 4:
Positions:  [   0.000,    0.000,    0.000,    0.000,   -0.062,    0.000]
Velocities: [   0.000,    0.000,    0.000,   -0.000,   -0.250,    0.000]
Efforts:    [   0.000,    0.000,    0.000,   -0.000,   -0.500,    0.000]

Joint State Set 5:
Positions:  [   0.000,    0.000,    0.000,    0.000,   -0.090,    0.000]
Velocities: [   0.000,    0.000,    0.000,   -0.000,   -0.300,    0.000]
Efforts:    [   0.000,    0.000,    0.000,   -0.000,   -0.500,    0.000]

Joint State Set 6:
Positions:  [   0.000,    0.000,    0.000,    0.000,   -0.122,    0.000]
Velocities: [   0.000,    0.000,    0.000,   -0.000,   -0.350,    0.000]
Efforts:    [   0.000,    0.000,    0.000,   -0.000,   -0.500,    0.000]

Joint State Set 7:
Positions:  [   0.000,    0.000,    0.000,    0.000,   -0.160,    0.000]
Velocities: [   0.000,    0.000,    0.000,   -0.000,   -0.400,    0.000]
Efforts:    [   0.000,    0.000,    0.000,   -0.000,   -0.500,    0.000]

Joint State Set 8:
Positions:  [   0.000,    0.000,    0.000,    0.000,   -0.202,    0.000]
Velocities: [   0.000,    0.000,    0.000,   -0.000,   -0.450,    0.000]
Efforts:    [   0.000,    0.000,    0.000,   -0.000,   -0.500,    0.000]

Joint State Set 9:
Positions:  [   0.000,    0.000,    0.000,    0.000,   -0.250,    0.000]
Velocities: [   0.000,    0.000,    0.000,   -0.000,   -0.500,    0.000]
Efforts:    [   0.000,    0.000,    0.000,   -0.000,   -0.500,    0.000]

Joint State Set 10:
Positions:  [   0.000,    0.000,    0.000,    0.000,   -0.300,    0.000]
Velocities: [   0.000,    0.000,    0.000,   -0.000,   -0.473,    0.000]
Efforts:    [   0.000,    0.000,    0.000,    0.000,    0.500,    0.000]

Joint State Set 11:
Positions:  [   0.000,    0.000,    0.000,    0.000,   -0.344,    0.000]
Velocities: [   0.000,    0.000,    0.000,   -0.000,   -0.423,    0.000]
Efforts:    [   0.000,    0.000,    0.000,    0.000,    0.500,    0.000]

Joint State Set 12:
Positions:  [   0.000,    0.000,    0.000,    0.000,   -0.384,    0.000]
Velocities: [   0.000,    0.000,    0.000,   -0.000,   -0.373,    0.000]
Efforts:    [   0.000,    0.000,    0.000,    0.000,    0.500,    0.000]

Joint State Set 13:
Positions:  [   0.000,    0.000,    0.000,    0.000,   -0.419,    0.000]
Velocities: [   0.000,    0.000,    0.000,   -0.000,   -0.323,    0.000]
Efforts:    [   0.000,    0.000,    0.000,    0.000,    0.500,    0.000]

Joint State Set 14:
Positions:  [   0.000,    0.000,    0.000,    0.000,   -0.449,    0.000]
Velocities: [   0.000,    0.000,    0.000,   -0.000,   -0.273,    0.000]
Efforts:    [   0.000,    0.000,    0.000,    0.000,    0.500,    0.000]

Joint State Set 15:
Positions:  [   0.000,    0.000,    0.000,    0.000,   -0.474,    0.000]
Velocities: [   0.000,    0.000,    0.000,   -0.000,   -0.223,    0.000]
Efforts:    [   0.000,    0.000,    0.000,    0.000,    0.500,    0.000]

Joint State Set 16:
Positions:  [   0.000,    0.000,    0.000,    0.000,   -0.494,    0.000]
Velocities: [   0.000,    0.000,    0.000,   -0.000,   -0.173,    0.000]
Efforts:    [   0.000,    0.000,    0.000,    0.000,    0.500,    0.000]

Joint State Set 17:
Positions:  [   0.000,    0.000,    0.000,    0.000,   -0.508,    0.000]
Velocities: [   0.000,    0.000,    0.000,   -0.000,   -0.123,    0.000]
Efforts:    [   0.000,    0.000,    0.000,    0.000,    0.500,    0.000]

Joint State Set 18:
Positions:  [   0.000,    0.000,    0.000,    0.000,   -0.518,    0.000]
Velocities: [   0.000,    0.000,    0.000,   -0.000,   -0.073,    0.000]
Efforts:    [   0.000,    0.000,    0.000,    0.000,    0.500,    0.000]

Joint State Set 19:
Positions:  [   0.000,    0.000,    0.000,    0.000,   -0.523,    0.000]
Velocities: [   0.000,    0.000,    0.000,   -0.000,   -0.023,    0.000]
Efforts:    [   0.000,    0.000,    0.000,    0.000,    0.500,    0.000]

Joint State Set 20:
Positions:  [   0.000,    0.000,    0.000,    0.000,   -0.524,    0.000]
Velocities: [  -0.000,   -0.000,   -0.000,    0.000,    0.000,   -0.000]
Efforts:    [  -0.000,   -0.000,   -0.000,    0.000,    0.500,   -0.000]

Joint State Set 1:
Positions:  [   0.005,    0.033,    0.043,    0.008,   -0.534,   -0.010]
Velocities: [   0.046,    0.322,    0.421,    0.077,   -0.100,   -0.089]
Efforts:    [   0.161,    1.319,    1.814,    0.241,   -0.500,   -0.278]

Joint State Set 2:
Positions:  [   0.010,    0.071,    0.094,    0.017,   -0.546,   -0.020]
Velocities: [   0.058,    0.437,    0.586,    0.093,   -0.150,   -0.107]
Efforts:    [   0.081,    0.983,    1.476,    0.076,   -0.500,   -0.086]

Joint State Set 3:
Positions:  [   0.016,    0.120,    0.159,    0.026,   -0.564,   -0.030]
Velocities: [   0.063,    0.522,    0.720,    0.094,   -0.200,   -0.109]
Efforts:    [   0.019,    0.708,    1.202,   -0.053,   -0.500,    0.064]

Joint State Set 4:
Positions:  [   0.023,    0.175,    0.237,    0.036,   -0.586,   -0.041]
Velocities: [   0.064,    0.585,    0.833,    0.087,   -0.250,   -0.099]
Efforts:    [  -0.014,    0.548,    1.045,   -0.110,   -0.500,    0.134]

Joint State Set 5:
Positions:  [   0.029,    0.236,    0.326,    0.044,   -0.614,   -0.050]
Velocities: [   0.061,    0.633,    0.931,    0.073,   -0.300,   -0.083]
Efforts:    [  -0.045,    0.401,    0.899,   -0.164,   -0.500,    0.199]

Joint State Set 6:
Positions:  [   0.034,    0.296,    0.415,    0.050,   -0.643,   -0.057]
Velocities: [   0.045,    0.531,    0.803,    0.047,   -0.274,   -0.053]
Efforts:    [  -0.167,   -1.356,   -1.849,   -0.239,    0.499,    0.279]

Joint State Set 7:
Positions:  [   0.038,    0.343,    0.486,    0.053,   -0.668,   -0.061]
Velocities: [   0.032,    0.409,    0.631,    0.029,   -0.224,   -0.031]
Efforts:    [  -0.116,   -1.122,   -1.617,   -0.142,    0.500,    0.164]

Joint State Set 8:
Positions:  [   0.041,    0.378,    0.542,    0.056,   -0.688,   -0.063]
Velocities: [   0.022,    0.304,    0.478,    0.018,   -0.174,   -0.019]
Efforts:    [  -0.085,   -0.982,   -1.478,   -0.088,    0.500,    0.099]

Joint State Set 9:
Positions:  [   0.043,    0.404,    0.582,    0.057,   -0.703,   -0.065]
Velocities: [   0.014,    0.211,    0.334,    0.011,   -0.124,   -0.011]
Efforts:    [  -0.068,   -0.899,   -1.396,   -0.060,    0.500,    0.064]

Joint State Set 10:
Positions:  [   0.044,    0.421,    0.609,    0.058,   -0.713,   -0.066]
Velocities: [   0.008,    0.126,    0.200,    0.006,   -0.074,   -0.006]
Efforts:    [  -0.057,   -0.846,   -1.343,   -0.042,    0.500,    0.042]

Joint State Set 11:
Positions:  [   0.044,    0.429,    0.622,    0.058,   -0.718,   -0.066]
Velocities: [   0.003,    0.041,    0.065,    0.002,   -0.024,   -0.002]
Efforts:    [  -0.057,   -0.846,   -1.343,   -0.042,    0.500,    0.042]

Joint State Set 12:
Positions:  [   0.044,    0.430,    0.624,    0.058,   -0.718,   -0.066]
Velocities: [  -0.000,   -0.000,   -0.000,   -0.000,    0.000,    0.000]
Efforts:    [  -0.057,   -0.846,   -1.343,   -0.042,    0.500,    0.042]

Joint State Set 1:
Positions:  [   0.044,    0.424,    0.615,    0.058,   -0.708,   -0.065]
Velocities: [  -0.006,   -0.060,   -0.087,   -0.008,    0.100,    0.009]
Efforts:    [  -0.031,   -0.299,   -0.434,   -0.041,    0.500,    0.046]

Joint State Set 2:
Positions:  [   0.043,    0.417,    0.604,    0.057,   -0.696,   -0.064]
Velocities: [  -0.009,   -0.090,   -0.130,   -0.012,    0.150,    0.014]
Efforts:    [  -0.031,   -0.299,   -0.434,   -0.041,    0.500,    0.046]

Joint State Set 3:
Positions:  [   0.042,    0.406,    0.589,    0.055,   -0.678,   -0.063]
Velocities: [  -0.012,   -0.120,   -0.174,   -0.016,    0.200,    0.018]
Efforts:    [  -0.031,   -0.299,   -0.434,   -0.041,    0.500,    0.046]

Joint State Set 4:
Positions:  [   0.041,    0.393,    0.569,    0.053,   -0.656,   -0.060]
Velocities: [  -0.015,   -0.150,   -0.217,   -0.020,    0.250,    0.023]
Efforts:    [  -0.031,   -0.299,   -0.434,   -0.041,    0.500,    0.046]

Joint State Set 5:
Positions:  [   0.039,    0.376,    0.546,    0.051,   -0.628,   -0.058]
Velocities: [  -0.019,   -0.180,   -0.260,   -0.024,    0.300,    0.028]
Efforts:    [  -0.031,   -0.299,   -0.434,   -0.041,    0.500,    0.046]

Joint State Set 6:
Positions:  [   0.037,    0.357,    0.517,    0.048,   -0.596,   -0.055]
Velocities: [  -0.022,   -0.210,   -0.304,   -0.028,    0.350,    0.032]
Efforts:    [  -0.031,   -0.299,   -0.434,   -0.041,    0.500,    0.046]

Joint State Set 7:
Positions:  [   0.035,    0.334,    0.485,    0.045,   -0.558,   -0.051]
Velocities: [  -0.025,   -0.239,   -0.347,   -0.033,    0.400,    0.037]
Efforts:    [  -0.031,   -0.299,   -0.434,   -0.041,    0.500,    0.046]

Joint State Set 8:
Positions:  [   0.032,    0.309,    0.448,    0.042,   -0.516,   -0.048]
Velocities: [  -0.028,   -0.269,   -0.391,   -0.037,    0.450,    0.041]
Efforts:    [  -0.031,   -0.299,   -0.434,   -0.041,    0.500,    0.046]

Joint State Set 9:
Positions:  [   0.029,    0.280,    0.407,    0.038,   -0.468,   -0.043]
Velocities: [  -0.031,   -0.299,   -0.434,   -0.041,    0.500,    0.046]
Efforts:    [  -0.031,   -0.299,   -0.434,   -0.041,    0.500,    0.046]

Joint State Set 10:
Positions:  [   0.026,    0.249,    0.361,    0.034,   -0.416,   -0.038]
Velocities: [  -0.034,   -0.329,   -0.477,   -0.045,    0.550,    0.051]
Efforts:    [  -0.031,   -0.299,   -0.434,   -0.041,    0.500,    0.046]

Joint State Set 11:
Positions:  [   0.022,    0.215,    0.311,    0.029,   -0.358,   -0.033]
Velocities: [  -0.037,   -0.358,   -0.520,   -0.049,    0.599,    0.055]
Efforts:    [   0.031,    0.299,    0.434,    0.041,   -0.500,   -0.046]

Joint State Set 12:
Positions:  [   0.019,    0.180,    0.261,    0.024,   -0.301,   -0.028]
Velocities: [  -0.034,   -0.328,   -0.476,   -0.045,    0.549,    0.051]
Efforts:    [   0.031,    0.299,    0.434,    0.041,   -0.500,   -0.046]

Joint State Set 13:
Positions:  [   0.015,    0.149,    0.216,    0.020,   -0.249,   -0.023]
Velocities: [  -0.031,   -0.299,   -0.433,   -0.041,    0.499,    0.046]
Efforts:    [   0.031,    0.299,    0.434,    0.041,   -0.500,   -0.046]

Joint State Set 14:
Positions:  [   0.012,    0.121,    0.175,    0.016,   -0.201,   -0.019]
Velocities: [  -0.028,   -0.269,   -0.390,   -0.036,    0.449,    0.041]
Efforts:    [   0.031,    0.299,    0.434,    0.041,   -0.500,   -0.046]

Joint State Set 15:
Positions:  [   0.010,    0.095,    0.138,    0.013,   -0.159,   -0.015]
Velocities: [  -0.025,   -0.239,   -0.346,   -0.032,    0.399,    0.037]
Efforts:    [   0.031,    0.299,    0.434,    0.041,   -0.500,   -0.046]

Joint State Set 16:
Positions:  [   0.008,    0.073,    0.106,    0.010,   -0.122,   -0.011]
Velocities: [  -0.022,   -0.209,   -0.303,   -0.028,    0.349,    0.032]
Efforts:    [   0.031,    0.299,    0.434,    0.041,   -0.500,   -0.046]

Joint State Set 17:
Positions:  [   0.006,    0.053,    0.077,    0.007,   -0.089,   -0.008]
Velocities: [  -0.018,   -0.179,   -0.259,   -0.024,    0.299,    0.028]
Efforts:    [   0.031,    0.299,    0.434,    0.041,   -0.500,   -0.046]

Joint State Set 18:
Positions:  [   0.004,    0.037,    0.054,    0.005,   -0.062,   -0.006]
Velocities: [  -0.015,   -0.149,   -0.216,   -0.020,    0.249,    0.023]
Efforts:    [   0.031,    0.299,    0.434,    0.041,   -0.500,   -0.046]

Joint State Set 19:
Positions:  [   0.002,    0.024,    0.034,    0.003,   -0.039,   -0.004]
Velocities: [  -0.012,   -0.119,   -0.173,   -0.016,    0.199,    0.018]
Efforts:    [   0.031,    0.299,    0.434,    0.041,   -0.500,   -0.046]

Joint State Set 20:
Positions:  [   0.001,    0.013,    0.019,    0.002,   -0.022,   -0.002]
Velocities: [  -0.009,   -0.089,   -0.129,   -0.012,    0.149,    0.014]
Efforts:    [   0.031,    0.299,    0.434,    0.041,   -0.500,   -0.046]

Joint State Set 21:
Positions:  [   0.001,    0.006,    0.008,    0.001,   -0.010,   -0.001]
Velocities: [  -0.006,   -0.059,   -0.086,   -0.008,    0.099,    0.009]
Efforts:    [   0.031,    0.299,    0.434,    0.041,   -0.500,   -0.046]

Joint State Set 22:
Positions:  [   0.000,    0.001,    0.002,    0.000,   -0.002,   -0.000]
Velocities: [  -0.003,   -0.029,   -0.042,   -0.004,    0.049,    0.004]
Efforts:    [   0.031,    0.299,    0.434,    0.041,   -0.500,   -0.046]

Joint State Set 23:
Positions:  [   0.000,    0.000,    0.000,    0.000,   -0.000,   -0.000]
Velocities: [   0.000,    0.000,    0.000,    0.000,   -0.000,   -0.000]
Efforts:    [   0.031,    0.299,    0.434,    0.041,   -0.500,   -0.046]

At least in this, I have learned that on the MotoROS side of things, it is very unlikely to be the issue, and I learned quite a bit about DDS. But that still leaves me wondering which avenue to tackle next. Any suggestions on pinpointing what the issue is—i.e., ruling out/identifying my system, MTC, or ROS?

[gavanderhoorn]

I did the XRCE-DDS capture, and what I found is that for the first trajectory goal coordPoint1, only one packet is being sent out.

I assume you mean: a goal is submitted with a trajectory with only a single trajectory point?

I'm sorry for being so pedantic about this, but when debugging network protocols, ROS RMWs and ROS APIs, there is a need to be very precise about this sort of thing.

For the rest of the trajectory goals, they are receiving the correct number of packets. This leads me to believe that the issue is not that the trajectory plans are 'disappearing', but that the first trajectory plan is failing at some point either in my system, MTC, or ROS.

If there is indeed a goal submitted with a single trajectory point, that would seem to point to something on the producing side, not MotoROS2.

For the XRCE-DDS capture, I wanted to finalize a debugging tool where you could just run a shell script in the background while manipulating your robot, and after killing the shell script, have a Python script automatically parse through the generated pcap file. But it just turned into too much of a hassle. What I did end up finishing was a script that takes in hex packets (that you have to manually extract from the pcap file) and spits out the respective trajectory point values. The script only supports packets with exclusively trajectory goal points and does not parse the initial packets containing the initial joint values, joint names, or the world frame name.

thanks for including your code. Impressive result.

We've done something similar in the past, which builds upon jseldent/wireshark-dds-xrce: gavanderhoorn/micro_xrce_dds_ros_idl_dissectors. That's also not necessarily trivial, but can be automated (code generation), at least partially.

And here is the outputted result:

I'm not sure I understand how to map these printouts to the trajectories in the goals you submit.

At least in this, I have learned that on the MotoROS side of things, it is very unlikely to be the issue, and I learned quite a bit about DDS. But that still leaves me wondering which avenue to tackle next. Any suggestions on pinpointing what the issue is—i.e., ruling out/identifying my system, MTC, or ROS?

Have you tried logging the trajectory that's being submitted as part of the goal in your application? So before you construct the goal, or right before it gets submitted to MotoROS2?

I would perhaps try to understand what makes the MTC (or MoveIt) generate a trajectory with only a single point.

Perhaps the MoveIt and/or MTC maintainers could help you. Please be sure to provide them with sufficient detail, and it would be perfect if you could replicate what you see with MotoROS2 with a simulated robot (ie: the Panda setup used in the MoveIt tutorials fi) as that would make it easier for the MoveIt maintainers to figure out what's going on without needing your exact setup.

[gavanderhoorn]

@lkaising: would you have any update on whether you got things to work?

[lkaising]

Yes, I managed to resolve the issue by implementing additional validation checks in my task execution pipeline. While I didn't identify the exact source of the problem (whether MTC or my implementation), adding pre-execution validation has effectively prevented the single-point trajectory issues.

Here's the solution I implemented:

1. The task execution flow has two phases - planning and execution:

TaskExecutionStatus TaskManager::performTask(Task& task, 
                                             const string& command,
                                             TimerResults& timer_results) const {
    {
        ScopedTimer timer("Initialize and Plan Task Timer", timer_results);
        auto status = planTask(task);
        if (status != TaskExecutionStatus::Success) {
            return status;
        }
    }
    {
        ScopedTimer timer("Execute Task Timer", timer_results);
        return executeTask(task, command);
    }
}

2. Before publishing any solution, I added validation checks in executeTask():

TaskExecutionStatus TaskManager::executeTask(Task& task,
                                             const string& command) const {
    const auto& solutions = task.solutions();
    if (solutions.empty()) {
        return TaskExecutionStatus::PlanningFailed;
    }
    auto valid_solution = findValidSolution(task, solutions);
    if (!valid_solution) {
        return TaskExecutionStatus::PlanningFailed;
    }
    task.introspection().publishSolution(*valid_solution->get());
    const auto result = task.execute(*valid_solution->get());
    
    return checkExecutionResult(result, command);
}

3. The core validation logic happens in findValidSolution():

TaskManager::OptionalSolutionRef 
TaskManager::findValidSolution(const Task& task, 
                               const ordered<SolutionPtr>& solutions) const {
    if (auto it = std::find_if(solutions.begin(), solutions.end(), [&](const auto& solution) {
            return !solution->isFailure() && task_validator_->validateSolution(
                task,
                solution->start()->scene()->getCurrentState(),
                solution->end()->scene()->getCurrentState());
        }); it != solutions.end()) {
        return std::cref(*it);
    }
    return std::nullopt;
}

The validation consists of two checks:

1. Using MoveIt's isFailure() check
2. A custom validator that compares the solution's start and end states against the task's expected states

Since implementing these checks, I haven't seen any instances of missing trajectory points. While I didn't uncover the root cause, this validation approach has provided a reliable safeguard against problematic trajectories being published.