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Interbotix / interbotix_ros_core

Core ROS Packages for Interbotix Robots
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Locobot wx250 6dof, cant find Dynamixel ids 11,2,10,1 #5

Closed sebbyjp closed 2 years ago

sebbyjp commented 2 years ago

Hi,

Can I please get a list of the dynamixel Locobot wx250 6dof motor model numbers and what their default values should be in the dynamixel2 wizard, especially the id? I believe I need to factory reset to fix the following issue and then manually reset the default values in the wizard as the wizard cannot even find the motors.

Running: roslaunch interbotix_xslocobot_control xslocobot_control.launch robot_model:=locobot_wx250s use_base:=true use_camera

Results in:

And further:

Note: There used to be an issue where there were two devices with IDs 1 and 2 found but one pair had baud rate 1mbps and the other with 57600. However, after changing the baud rates of the latter to 1mbps only IDs 3-9 are being found (with the most exhuastive scan).

The entire roslaunch output is: ` ... logging to /home/locobot/.ros/log/fbc5682e-457e-11ec-8399-131618a9447b/roslaunch-locobot-3178.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://10.0.0.25:37907/

SUMMARY

PARAMETERS   /locobot/camera/realsense2_camera/accel_fps: 250   /locobot/camera/realsense2_camera/accel_frame_id: locobot/camera_ac...   /locobot/camera/realsense2_camera/accel_optical_frame_id: locobot/camera_ac...   /locobot/camera/realsense2_camera/align_depth: False   /locobot/camera/realsense2_camera/aligned_depth_to_color_frame_id: locobot/camera_al...   /locobot/camera/realsense2_camera/aligned_depth_to_fisheye1_frame_id: locobot/camera_al...   /locobot/camera/realsense2_camera/aligned_depth_to_fisheye2_frame_id: locobot/camera_al...   /locobot/camera/realsense2_camera/aligned_depth_to_fisheye_frame_id: locobot/camera_al...   /locobot/camera/realsense2_camera/aligned_depth_to_infra1_frame_id: locobot/camera_al...   /locobot/camera/realsense2_camera/aligned_depth_to_infra2_frame_id: locobot/camera_al...   /locobot/camera/realsense2_camera/allow_no_texture_points: False   /locobot/camera/realsense2_camera/base_frame_id: locobot/camera_link   /locobot/camera/realsense2_camera/calib_odom_file:   /locobot/camera/realsense2_camera/clip_distance: -2.0   /locobot/camera/realsense2_camera/color_fps: 30   /locobot/camera/realsense2_camera/color_frame_id: locobot/camera_co...   /locobot/camera/realsense2_camera/color_height: 480   /locobot/camera/realsense2_camera/color_optical_frame_id: locobot/camera_co...   /locobot/camera/realsense2_camera/color_width: 640   /locobot/camera/realsense2_camera/depth_fps: 30   /locobot/camera/realsense2_camera/depth_frame_id: locobot/camera_de...   /locobot/camera/realsense2_camera/depth_height: 480   /locobot/camera/realsense2_camera/depth_optical_frame_id: locobot/camera_de...   /locobot/camera/realsense2_camera/depth_width: 640   /locobot/camera/realsense2_camera/device_type:   /locobot/camera/realsense2_camera/enable_accel: False   /locobot/camera/realsense2_camera/enable_color: True   /locobot/camera/realsense2_camera/enable_depth: True   /locobot/camera/realsense2_camera/enable_fisheye1: False   /locobot/camera/realsense2_camera/enable_fisheye2: False   /locobot/camera/realsense2_camera/enable_fisheye: False   /locobot/camera/realsense2_camera/enable_gyro: False   /locobot/camera/realsense2_camera/enable_infra1: False   /locobot/camera/realsense2_camera/enable_infra2: False   /locobot/camera/realsense2_camera/enable_infra: False   /locobot/camera/realsense2_camera/enable_pointcloud: False   /locobot/camera/realsense2_camera/enable_pose: False   /locobot/camera/realsense2_camera/enable_sync: False   /locobot/camera/realsense2_camera/filters:   /locobot/camera/realsense2_camera/fisheye1_frame_id: locobot/camera_fi...   /locobot/camera/realsense2_camera/fisheye1_optical_frame_id: locobot/camera_fi...   /locobot/camera/realsense2_camera/fisheye2_frame_id: locobot/camera_fi...   /locobot/camera/realsense2_camera/fisheye2_optical_frame_id: locobot/camera_fi...   /locobot/camera/realsense2_camera/fisheye_fps: 30   /locobot/camera/realsense2_camera/fisheye_frame_id: locobot/camera_fi...   /locobot/camera/realsense2_camera/fisheye_height: 480   /locobot/camera/realsense2_camera/fisheye_optical_frame_id: locobot/camera_fi...   /locobot/camera/realsense2_camera/fisheye_width: 640   /locobot/camera/realsense2_camera/gyro_fps: 400   /locobot/camera/realsense2_camera/gyro_frame_id: locobot/camera_gy...   /locobot/camera/realsense2_camera/gyro_optical_frame_id: locobot/camera_gy...   /locobot/camera/realsense2_camera/imu_optical_frame_id: locobot/camera_im...   /locobot/camera/realsense2_camera/infra1_frame_id: locobot/camera_in...   /locobot/camera/realsense2_camera/infra1_optical_frame_id: locobot/camera_in...   /locobot/camera/realsense2_camera/infra2_frame_id: locobot/camera_in...   /locobot/camera/realsense2_camera/infra2_optical_frame_id: locobot/camera_in...   /locobot/camera/realsense2_camera/infra_fps: 30   /locobot/camera/realsense2_camera/infra_height: 480   /locobot/camera/realsense2_camera/infra_rgb: False   /locobot/camera/realsense2_camera/infra_width: 640   /locobot/camera/realsense2_camera/initial_reset: False   /locobot/camera/realsense2_camera/json_file_path:   /locobot/camera/realsense2_camera/linear_accel_cov: 0.01   /locobot/camera/realsense2_camera/odom_frame_id: locobot/camera_od...   /locobot/camera/realsense2_camera/pointcloud_texture_index: 0   /locobot/camera/realsense2_camera/pointcloud_texture_stream: RS2_STREAM_COLOR   /locobot/camera/realsense2_camera/pose_frame_id: locobot/camera_po...   /locobot/camera/realsense2_camera/pose_optical_frame_id: locobot/camera_po...   /locobot/camera/realsense2_camera/publish_odom_tf: True   /locobot/camera/realsense2_camera/publish_tf: True   /locobot/camera/realsense2_camera/rosbag_filename:   /locobot/camera/realsense2_camera/serial_no:   /locobot/camera/realsense2_camera/tf_publish_rate: 0.0   /locobot/camera/realsense2_camera/topic_odom_in: odom_in   /locobot/camera/realsense2_camera/unite_imu_method:   /locobot/camera/realsense2_camera/usb_port_id:   /locobot/diagnostic_aggregator/analyzers/input_ports/contains: ['Digital Input',...   /locobot/diagnostic_aggregator/analyzers/input_ports/path: Input Ports   /locobot/diagnostic_aggregator/analyzers/input_ports/remove_prefix: mobile_base_nodel...   /locobot/diagnostic_aggregator/analyzers/input_ports/timeout: 5.0   /locobot/diagnostic_aggregator/analyzers/input_ports/type: diagnostic_aggreg...   /locobot/diagnostic_aggregator/analyzers/kobuki/contains: ['Watchdog', 'Mot...   /locobot/diagnostic_aggregator/analyzers/kobuki/path: Kobuki   /locobot/diagnostic_aggregator/analyzers/kobuki/remove_prefix: mobile_base_nodel...   /locobot/diagnostic_aggregator/analyzers/kobuki/timeout: 5.0   /locobot/diagnostic_aggregator/analyzers/kobuki/type: diagnostic_aggreg...   /locobot/diagnostic_aggregator/analyzers/power/contains: ['Battery']   /locobot/diagnostic_aggregator/analyzers/power/path: Power System   /locobot/diagnostic_aggregator/analyzers/power/remove_prefix: mobile_base_nodel...   /locobot/diagnostic_aggregator/analyzers/power/timeout: 5.0   /locobot/diagnostic_aggregator/analyzers/power/type: diagnostic_aggreg...   /locobot/diagnostic_aggregator/analyzers/sensors/contains: ['Cliff Sensor', ...   /locobot/diagnostic_aggregator/analyzers/sensors/path: Sensors   /locobot/diagnostic_aggregator/analyzers/sensors/remove_prefix: mobile_base_nodel...   /locobot/diagnostic_aggregator/analyzers/sensors/timeout: 5.0   /locobot/diagnostic_aggregator/analyzers/sensors/type: diagnostic_aggreg...   /locobot/diagnostic_aggregator/base_path:   /locobot/diagnostic_aggregator/pub_rate: 1.0   /locobot/joint_state_publisher/rate: 100   /locobot/joint_state_publisher/source_list: ['dynamixel/joint...   /locobot/mobile_base/acceleration_limiter: True   /locobot/mobile_base/base_frame: locobot/base_foot...   /locobot/mobile_base/battery_capacity: 16.5   /locobot/mobile_base/battery_dangerous: 13.2   /locobot/mobile_base/battery_low: 14.0   /locobot/mobile_base/cmd_vel_timeout: 2.0   /locobot/mobile_base/device_port: /dev/kobuki   /locobot/mobile_base/odom_frame: locobot/odom   /locobot/mobile_base/publish_tf: True   /locobot/mobile_base/use_imu_heading: True   /locobot/mobile_base/wheel_left_joint_name: wheel_left_joint   /locobot/mobile_base/wheel_right_joint_name: wheel_right_joint   /locobot/robot_description: <?xml version="1....   /locobot/use_base: True   /locobot/xs_sdk/load_configs: True   /locobot/xs_sdk/mode_configs: /home/locobot/int...   /locobot/xs_sdk/motor_configs: /home/locobot/int...   /rosdistro: noetic  * /rosversion: 1.15.13

NODES   /locobot/     diagnostic_aggregator (diagnostic_aggregator/aggregator_node)     joint_state_publisher (joint_state_publisher/joint_state_publisher)     mobile_base (nodelet/nodelet)     mobile_base_nodelet_manager (nodelet/nodelet)     robot_state_publisher (robot_state_publisher/robot_state_publisher)     xs_sdk (interbotix_xs_sdk/xs_sdk)   /locobot/camera/     realsense2_camera (nodelet/nodelet)     realsense2_camera_manager (nodelet/nodelet)

auto-starting new master process[master]: started with pid [3196] ROS_MASTER_URI=http://localhost:11311

setting /run_id to fbc5682e-457e-11ec-8399-131618a9447b process[rosout-1]: started with pid [3209] started core service [/rosout] process[locobot/joint_state_publisher-2]: started with pid [3212] process[locobot/robot_state_publisher-3]: started with pid [3213] process[locobot/xs_sdk-4]: started with pid [3218] process[locobot/mobile_base_nodelet_manager-5]: started with pid [3219] process[locobot/mobile_base-6]: started with pid [3220] process[locobot/diagnostic_aggregator-7]: started with pid [3221] process[locobot/camera/realsense2_camera_manager-8]: started with pid [3226] [ INFO] [1636917224.980629005]: [xs_sdk] Successfully retrieved motor configs from /home/locobot/interbotix_ws/src/interbotix_ros_rovers/interbotix_ros_xslocobots/interbotix_xslocobot_control/config/locobot_wx250s.yaml. process[locobot/camera/realsense2_camera-9]: started with pid [3244] [ INFO] [1636917225.022630950]: Initializing nodelet with 4 worker threads. [ERROR] [1636917225.053295919]: [xs_sdk] Can't find Dynamixel ID '11', Joint Name : 'tilt' [ INFO] [1636917225.089224718]: [xs_sdk] Found Dynamixel ID : 8, Joint Name : wrist_rotate, Model Number : 1060 [ INFO] [1636917225.137209463]: [xs_sdk] Found Dynamixel ID : 7, Joint Name : wrist_angle, Model Number : 1020 [ INFO] [1636917225.185173896]: [xs_sdk] Found Dynamixel ID : 5, Joint Name : elbow_shadow, Model Number : 1020 [ INFO] [1636917225.233157738]: [xs_sdk] Found Dynamixel ID : 4, Joint Name : elbow, Model Number : 1020 [ INFO] [1636917225.281192387]: [xs_sdk] Found Dynamixel ID : 6, Joint Name : forearm_roll, Model Number : 1020 [ERROR] [1636917225.329180603]: [xs_sdk] Can't find Dynamixel ID '2', Joint Name : 'shoulder' [ERROR] [1636917225.365294906]: [xs_sdk] Can't find Dynamixel ID '10', Joint Name : 'pan' [ WARN] [1636917225.371856929]: Kobuki : no data stream, is kobuki turned on? [ INFO] [1636917225.401162692]: [xs_sdk] Found Dynamixel ID : 9, Joint Name : gripper, Model Number : 1060 [ INFO] [1636917225.443665894]: RealSense ROS v2.2.20 [ INFO] [1636917225.443699903]: Built with LibRealSense v2.40.0 [ INFO] [1636917225.443720787]: Running with LibRealSense v2.40.0 [ INFO] [1636917225.449267184]: [xs_sdk] Found Dynamixel ID : 3, Joint Name : shoulder_shadow, Model Number : 1020

[ERROR] [1636917225.497168871]: [xs_sdk] Can't find Dynamixel ID '1', Joint Name : 'waist' [ERROR] [1636917225.497222294]: [xs_sdk] Could not find all motors. Shutting down... [ERROR] [1636917225.497245827]: [xs_sdk] For troubleshooting, please see https://github.com/Interbotix/interbotix_ros_core/blob/main/interbotix_ros_xseries/interbotix_xs_sdk/TROUBLESHOOTING.md [ INFO] [1636917225.558658309]: Device with serial number 050522071880 was found.

[ INFO] [1636917225.558719476]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb2/2-3/2-3:1.0/video4linux/video0 was found. [ INFO] [1636917225.558754841]: Device with name Intel RealSense D435 was found. [ INFO] [1636917225.559354479]: Device with port number 2-3 was found. [ INFO] [1636917225.559404888]: Device USB type: 3.2

[ INFO] [1636917225.633359915]: JSON file is not provided [ INFO] [1636917225.633375445]: ROS Node Namespace: locobotcamera [ INFO] [1636917225.633398305]: Device Name: Intel RealSense D435 [ INFO] [1636917225.633415705]: Device Serial No: 050522071880 [ INFO] [1636917225.633433365]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb2/2-3/2-3:1.0/video4linux/video0 [ INFO] [1636917225.633449703]: Device FW version: 05.11.01.100 [ INFO] [1636917225.633464936]: Device Product ID: 0x0B07 [ INFO] [1636917225.633481768]: Enable PointCloud: Off [ INFO] [1636917225.633503377]: Align Depth: Off [ INFO] [1636917225.633521341]: Sync Mode: Off [ INFO] [1636917225.633559449]: Device Sensors: [ INFO] [1636917225.635549137]: Stereo Module was found.  14/11 13:13:45,636 WARNING [140185696069376] (backend-v4l2.cpp:1271) Pixel format 36315752-1a66-a242-9065-d01814a likely requires patch for fourcc code RW16! [ INFO] [1636917225.641619226]: RGB Camera was found. [ INFO] [1636917225.641650035]: num_filters: 0 [ INFO] [1636917225.641670355]: Setting Dynamic reconfig parameters. [locobot/xs_sdk-4] process has finished cleanly log file: /home/locobot/.ros/log/fbc5682e-457e-11ec-8399-131618a9447b/locobot-xs_sdk-4*.log [ WARN] [1636917225.752122952]: Param '/locobot/camera/rgb_camera/power_line_frequency' has value 3 that is not in the enum { {50Hz: 1} {60Hz: 2} {Disabled: 0} }. Removing this parameter from dynamic reconfigure options. [ INFO] [1636917225.760708153]: Done Setting Dynamic reconfig parameters. [ INFO] [1636917225.763874968]: depth stream is enabled - width: 640, height: 480, fps: 30, Format: Z16 [ INFO] [1636917225.765353227]: color stream is enabled - width: 640, height: 480, fps: 30, Format: RGB8

[ INFO] [1636917225.774201334]: Expected frequency for depth = 30.00000 [ INFO] [1636917225.829489023]: Expected frequency for color = 30.00000

[ INFO] [1636917225.848312045]: insert Depth to Stereo Module [ INFO] [1636917225.848350627]: insert Color to RGB Camera [ INFO] [1636917225.958405865]: SELECTED BASE:Depth, 0 [ INFO] [1636917225.985210663]: RealSense Node Is Up! ^C[locobot/camera/realsense2_camera-9] killing on exit [locobot/camera/realsense2_camera_manager-8] killing on exit [locobot/diagnostic_aggregator-7] killing on exit [locobot/mobile_base_nodelet_manager-5] killing on exit [locobot/robot_state_publisher-3] killing on exit [locobot/joint_state_publisher-2] killing on exit [locobot/mobile_base-6] killing on exit [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done `

lukeschmitt-tr commented 2 years ago

Answered in https://github.com/Interbotix/interbotix_ros_rovers/issues/5#issuecomment-969107478. Please continue the conversation there. Closing.