[machine pos topic is not updating]

[wildanxgifari]

Hi Flynn!

I enjoy your work very much, I use it to control my delta printer via joystick

I want to get feedback for the robot position
however echoing from /cnc_id/machine_position does not output anything

What may cause it to happen?

Thx, Wildan

[github-actions]

Thank you for creating your first issue on this repo! Give me some time to review and respond to your problem.

[flynneva]

Hey @wildanxgifari! Glad you enjoy this package. I'm traveling right now but will look into your issue when I can soon.

[flynneva]

@wildanxgifari so this repo I believe uses actions, which feedback on the current position should be sent back to the action caller.

Let me double check that it's functional on my bench and get back to you.

[glass3cat]

I get the position display when I use ros2 topic echo /cnc_001/machine_position in meters.
x-45mm Y45mm
x: -0.045m y: 0.045m

~$ ros2 run grbl_ros grbl_node --ros-args --params-file ~/ros2_ws/src/grbl_ros/config/cnc001.yaml
[INFO] [1726366385.151330662] [grbl_device]: [ ? ] <Idle|MPos:0.000,0.000,0.000,0.000|Bf:15,127|FS:0,0>
[INFO] [1726366671.853200482] [grbl_device]: [ ? ] <Run|MPos:-0.011,0.011,0.000,0.000|Bf:14,127|FS:1018,0|WCO:0.000,0.000,0.000,0.000>
[INFO] [1726366671.873773668] [grbl_device]: [ ? ] <Run|MPos:-0.068,0.068,0.000,0.000|Bf:14,127|FS:1188,0>
[INFO] [1726366671.893868571] [grbl_device]: [ ? ] <Run|MPos:-0.214,0.214,0.000,0.000|Bf:14,127|FS:1527,0>

[INFO] [1726366672.956466212] [grbl_device]: [ ? ] <Run|MPos:-44.820,44.820,0.000,0.000|Bf:15,127|FS:0,0>
[INFO] [1726366672.978406569] [grbl_device]: [ ? ] <Run|MPos:-44.955,44.955,0.000,0.000|Bf:15,127|FS:0,0>
[INFO] [1726366673.002776816] [grbl_device]: [ ? ] <Idle|MPos:-45.000,45.000,0.000,0.000|Bf:15,127|FS:0,0|WCO:0.000,0.000,0.000,0.000>

~$ ros2 action send_goal /cnc_001/send_gcode_cmd grbl_msgs/action/SendGcodeCmd '{command: G0 X-45 Y45}'
Waiting for an action server to become available...
Sending goal:
command: G0 X-45 Y45

Goal accepted with ID: 44e57879ef304fe3943389427a3d8256

Result:
success: true

Goal finished with status: SUCCEEDED

~$ ros2 topic echo /cnc_001/machine_position
position:
x: -0.044988999999999994
y: 0.044988999999999994
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0

position:
x: -0.045
y: 0.045
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0