Mmotion step size must be equal to joint size

[Wetz1990]

ISSUE TEMPLATE ver. 1.0.0

Before you open issue, please refer to ROBOTIS e-Manual

1. How to setup?
   USB2Dynamixel

2. Which Dynamixel have you used? and how many?

   • Model Name: AX-12A

   • ID: 4

   • Baud Rate of Dynamixels: 1000000

   • Protocol Version: 1.0

3. Write down the commands you used in order

$ roscore    
$ roslaunch dynamixel_workbench_controllers dynamixel_controllers.launch
$ roslaunch dynamixel_workbench_operators joint_operator.launch

4. Copy and Paste your error message on terminal

SUMMARY
========

PARAMETERS
* /dynamixel_workbench/joint_operator/is_loop: False
* /dynamixel_workbench/trajectory_info: /home/kristian/ca...
* /rosdistro: melodic
* /rosversion: 1.14.5

NODES
/dynamixel_workbench/
  joint_operator (dynamixel_workbench_operators/joint_operator)

ROS_MASTER_URI=http://localhost:11311

process[dynamixel_workbench/joint_operator-1]: started with pid [3608]
[ERROR] [1589283714.943308566]: Please check motion step size. It must be equal to joint size
[ERROR] [1589283714.944887233]: Please check YAML file
================================================================================REQUIRED process [dynamixel_workbench/joint_operator-1] has died!
process has finished cleanly
log file: /home/kristian/.ros/log/7587f5c4-9445-11ea-ad64-7cb27dba32b8/dynamixel_workbench-joint_operator-1*.log
Initiating shutdown!
================================================================================
[dynamixel_workbench/joint_operator-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

5. Please, describe detailedly what difficulty you are in
   There is no documentation for the error message "Please check motion step size. It must be equal to joint size".
   I can find no documentation for what yaml file to check, which parameter is the motion step size, or which parameter is the joint size.
   Without being able to locate these two, i can not change them.

[yun-goon]

Hi @Wetz1990
Sorry for the delayed response.

The YAML file can be modified in the following launch file:

dynamixel-workbench/dynamixel_workbench_operators/launch/joint_operator.launch

Line 5 in 2e34b79

<param name="$(arg namespace)/trajectory_info" value="$(find dynamixel_workbench_operators)/config/motion.yaml"/>

By default, the settings are located in:
dynamixel-workbench/dynamixel_workbench_operators/config/motion.yaml.

This error occurs when there is a mismatch between the number of joint parameters and the number of step parameters in the motion configuration. Adjusting these numbers to match should resolve the issue.

If you encounter any other issues, please feel free to reach out at any time.