Closed gabri-v closed 2 years ago
Hi @gabri-v this could be the ROS setup or anyway some problem with the communication usually.
Can you check that you can correctly call the ROS service ec_client/get_slaves_description
(which we use to get information about the EtherCAT slaves that are connected)?
By calling the service from another terminal, you should be able to see some response like this:
And in the terminal where you started the EtherCAT master you should see some feedback like:
If this doesen't happen then probably some network/ROS setting has been changed, and the RobotBuilder client is stuck waiting for this service to reply. Is this the case?
Yes, it's a problem with ROS service, if I call rosservice list I can't see the /ec_client service, this is the output:
Thanks @gabri-v : That’s strange, there should be other active services.
Did you try to reboot the machine?
Yes, both master and slave, but I have the same problem
Ok, let's try to have a TeamViewer session on your pilot pc if you are available: we can have a call to organize it, please drop me an email at luca.muratore@iit.it
The issue seems the following:
systemctl --user status ec-client.service
● ec-client.service - ec_client_main
Loaded: loaded (/home/pino/.config/systemd/user/ec-client.service; enabled; vendor preset: enabled)
Active: failed (Result: exit-code) since Wed 2022-05-11 09:11:25 CEST; 2s ago
Process: 19247 ExecStart=/bin/bash -ic source /home/pino/.bashrc; ec_client_main (code=exited, status=127)
Main PID: 19247 (code=exited, status=127)
mag 11 09:11:24 pino-embedded systemd[14650]: Started ec_client_main.
mag 11 09:11:24 pino-embedded bash[19247]: bash: cannot set terminal process group (-1): Inappropriate ioctl for device
mag 11 09:11:24 pino-embedded bash[19247]: bash: no job control in this shell
mag 11 09:11:25 pino-embedded systemd[14650]: ec-client.service: Main process exited, code=exited, status=127/n/a
mag 11 09:11:25 pino-embedded systemd[14650]: ec-client.service: Failed with result 'exit-code'.
fyi @alaurenzi
Similar issue for xbot2-launcher:
systemctl --user status xbot2-launcher.service
● xbot2-launcher.service - XBot2 Launcher Daemon
Loaded: loaded (/home/pino/.config/systemd/user/xbot2-launcher.service; enabled; vendor preset: enabled)
Active: active (running) since Wed 2022-05-11 09:12:42 CEST; 449ms ago
Main PID: 24071 (bash)
CGroup: /user.slice/user-1000.slice/user@1000.service/xbot2-launcher.service
├─24071 /bin/bash -ic source /home/pino/.bashrc; stdbuf -oL xbot2-launcher &> /tmp/xbot2-launcher-output
├─24128 bash /opt/ros/noetic/bin/rosrun --prefix echo rosmon_core rosmon
├─24129 bash /opt/ros/noetic/bin/rosrun --prefix echo rosmon_core rosmon
└─24130 /usr/bin/python3 /opt/ros/noetic/bin/catkin_find --without-underlays --libexec --share rosmon_core
mag 11 09:12:42 pino-embedded systemd[14650]: Started XBot2 Launcher Daemon.
mag 11 09:12:42 pino-embedded bash[24071]: bash: cannot set terminal process group (-1): Inappropriate ioctl for device
mag 11 09:12:42 pino-embedded bash[24071]: bash: no job control in this shell
The above looks more a warning, the issue was related with the sourcing in the .bashrc:
#ROS
source /opt/ros/noetic/setup.bash
#XBOT2
source /opt/xbot/setup.sh
# ECAT M
source ~/src/fhi_ws/src/pino_fhi/config/setup.sh
# FHI WS
source ~/src/fhi_ws/devel/setup.bash
Something added in the last source was preventing ec_client_main
to see xbot libraries.
ec_client_main
ec_client_main: error while loading shared libraries: libXBotInterface.so.2.1.0: cannot open shared object file: No such file or directory
Investigating in the last source
Should be solved with:
source ~/src/fhi_ws/devel/setup.bash --extend
Please @gabri-v test it and let me know!
Everything work properly. Thank you so much for the support.
Hello.
I tried to reconfigure the robot and follow the procedures to create all the files needed to execute the modular robot.
When I open a web browser on pilot PC, connect to the pino-embedded machine 10.24.11.100:5000 and click on the "Generate Model" button the model does not appear and the and the message "Loading..." remains on the screen
These are the steps I took:
Thi is the output (I tried with only one straight joint module)
This is the output:
These are steps that I had already successfully performed before so I don't know what the problem could be.
Thanks for your help.