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Loosing Control of AX-12+ Servos #28

Closed GoogleCodeExporter closed 8 years ago

GoogleCodeExporter commented 8 years ago 
I am running 3 AX-12+ servos using a USB2Dynamixel and the smart_arm_controller 
and dynamixel_motor package. The servos work fine when controlled for a long 
period of time through other means, such as the Mac OSX Dynamixel Monitor from 
http://www.lucs.lu.se/Downloads/DynamixelMonitor.zip. However, when run through 
this ROS stack it only works for 10 seconds to 1 minute before it just freezes. 
The status messages from the nodes stop updating but no error messages are 
displayed from the roslaunch command window, roscore window, etc. The commands 
continue to be send without issue but the arm simply does not move.

I am not sure where to continue debugging this issue but I believe I have 
isolated it to a software problem, not a hardware problem, because it works 
perfect in other control programs.

The launch file, config file, etc can be found on our github repo: 
https://github.com/waffleguy4/CLAM2/tree/master/smart_arm_controller

Thanks for your help!

Original issue reported on code.google.com by davetcoleman on 18 Oct 2011 at 8:04

GoogleCodeExporter commented 8 years ago 
Hi Dave, can you post the output of "rosparam get /"? Your config and launch 
files look just fine. I also see that you are running on Mac OS, which I 
haven't really tested, do you have a linux box handy to see if that same 
problem occurs there?

Original comment by areb...@gmail.com on 18 Oct 2011 at 9:00

GoogleCodeExporter commented 8 years ago 
I added the output of rosparam get / to our repo: 
https://github.com/waffleguy4/CLAM2/blob/master/testing_rosparam.txt

All of our ROS code is running on Ubuntu 11.04. I just happend to test the 
robot on my mac with that handy Dynamixel Monitor as part of my debugging 
process. Do you know of a similar program for Linux? Attached is a screen shot 
of all the parameters used in our successful testing of the motors, using the 
Mac Monitor.

Thanks so much for your quick response!

Original comment by davetcoleman on 18 Oct 2011 at 10:40

Attachments:

GoogleCodeExporter commented 8 years ago 
David,

Everything looks fine in parameters. Hmm, let's put some debug statements in 
dynamixel_serial_proxy.py in dynamixel_driver package, let's say before and 
after line 207 (state = self.dxl_io.get_feedback(motor_id)). I am wondering if 
it gets stuck trying to get data from the motors, although it shouldn't.

Thanks!

Original comment by areb...@gmail.com on 18 Oct 2011 at 10:58

GoogleCodeExporter commented 8 years ago 
Forgot to say that I don't know of any graphical tool similar to Dynamixel 
Monitor on linux.

Original comment by areb...@gmail.com on 18 Oct 2011 at 11:01

GoogleCodeExporter commented 8 years ago

Original comment by areb...@gmail.com on 8 Dec 2011 at 8:11