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Interbotix / interbotix_ros_manipulators

ROS Packages for Interbotix Arms
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[Question]: Unable to contact ROS master at [http://<hostname>.local.11311 #195

Open GRINGOLOCO7 opened 1 month ago

GRINGOLOCO7 commented 1 month ago

Question

Hello, my name is Gregorio Orlando and I have the pleasure to work with one of your arm. In particular the wx250s.

I have a Raspberry PY, with hostname = ubuntu, connected to the arm. I followed the RaspberryPi instructions to install Ubuntu and set upp the Pi. The I runned the 4 comands:

sudo apt install curl
curl 'https://raw.githubusercontent.com/Interbotix/interbotix_ros_manipulators/main/interbotix_ros_xsarms/install/rpi4/xsarm_rpi4_install.sh' > xsarm_rpi4_install.sh
chmod +x xsarm_rpi4_install.sh
./xsarm_rpi4_install.sh -d noetic

Everithing looks correct.

Then on my personla computer running ubuntu, I run these other comands for remote installation and controll arm from my computer, streaming trough the Pi.

sudo apt install curl
curl 'https://raw.githubusercontent.com/Interbotix/interbotix_ros_manipulators/main/interbotix_ros_xsarms/install/xsarm_remote_install.sh' > xsarm_remote_install.sh
chmod +x xsarm_remote_install.sh
./xsarm_remote_install.sh

Everithing looks correct.

Then I don't know how to run the usuals comands, and launch files, so that I muve the robot, but all computational operations (such as Rviz) append in my personal computer.

MORE INFOS:

Robot Model

wx250s

Operating System

Ubuntu 20.04

ROS Version

ROS 1 Noetic

Additional Info

No response

lukeschmitt-tr commented 1 month ago

Unable to contact ROS master at [http://.local.11311

This makes it seem like a hostname was never set for the ROS_MASTER_URI environment variable. What is the output of running the command below:

printenv ROS_MASTER_URI
GRINGOLOCO7 commented 1 month ago

I'll get to it tomorrow in the lab and check it out. Thank you for your comment.

When I did the remote installation on my personal computer, I was asked to specify the hostname... Then in my case, the hostname of the Raspberry Pi is "ubuntu". I checked the.bashrc file, and it seems to update it correctly. I also tried to swap "ubuntu" (hostname), directly with the IP address of my Raspberry Pi in the .bashrc file of my personal computer.

The error that pops out in the Raspberry Pi when I run:

roslaunch interbotics_xsarm_control xsarm_control.launch robot_model:=wx250s use_rviz:=false

is:

ERROR: cannot launch node of type [interbotix_xs_sdk/xs_sdk]: Cannot locate node of type [xs_sdk] in package [interbotix_xs_sdk]. Make sure file exists in package path and permission is set to executable (chmod +x)

And of coure when I run in the personal computer:

roslaunch interbotics_xsarm_descriptions remove_view.launch

I get similar error.

GRINGOLOCO7 commented 1 month ago

Unable to contact ROS master at [http://.local.11311

This makes it seem like a hostname was never set for the ROS_MASTER_URI environment variable. What is the output of running the command below:

printenv ROS_MASTER_URI

In the raspberry py, I get http://localhost:11311. In the personal computer I get http://ubuntu.local:11311

GRINGOLOCO7 commented 1 month ago

in the pi:

roslaunch interbotix_xsarm_control xsarm_control.launch robot_model:=wx250s use_rviz:=false
... logging to /home/ubuntu/.ros/log/8fd30700-19e5-11ef-924b-dfaed8b34ae4/roslaunch-ubuntu-3892.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://ubuntu:36715/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /wx250s/robot_description: <?xml version="1....
 * /wx250s/xs_sdk/load_configs: True
 * /wx250s/xs_sdk/mode_configs: /home/ubuntu/inte...
 * /wx250s/xs_sdk/motor_configs: /home/ubuntu/inte...

NODES
  /wx250s/
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    xs_sdk (interbotix_xs_sdk/xs_sdk)

ROS_MASTER_URI=http://localhost:11311

process[wx250s/robot_state_publisher-1]: started with pid [3909]
ERROR: cannot launch node of type [interbotix_xs_sdk/xs_sdk]: Cannot locate node of type [xs_sdk] in package [interbotix_xs_sdk]. Make sure file exists in package path and permission is set to executable (chmod +x)
[ WARN] [1716566410.633503741]: Shutdown request received.
[ WARN] [1716566410.637554432]: Reason given for shutdown: [[/wx250s/robot_state_publisher] Reason: new node registered with same name]
[wx250s/robot_state_publisher-1] process has finished cleanly
log file: /home/ubuntu/.ros/log/8fd30700-19e5-11ef-924b-dfaed8b34ae4/wx250s-robot_state_publisher-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

in the personal computer:

roslaunch interbotix_xsarm_control xsarm_control.launch robot_model:=wx250s
... logging to /home/gringo/.ros/log/8fd30700-19e5-11ef-924b-dfaed8b34ae4/roslaunch-helena-4681.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://10.205.1.25:38501/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /wx250s/robot_description: <?xml version="1....
 * /wx250s/xs_sdk/load_configs: True
 * /wx250s/xs_sdk/mode_configs: /home/gringo/inte...
 * /wx250s/xs_sdk/motor_configs: /home/gringo/inte...

NODES
  /wx250s/
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz (rviz/rviz)
    xs_sdk (interbotix_xs_sdk/xs_sdk)

ROS_MASTER_URI=http://ubuntu.local:11311

process[wx250s/robot_state_publisher-1]: started with pid [4691]
process[wx250s/rviz-2]: started with pid [4692]
ERROR: cannot launch node of type [interbotix_xs_sdk/xs_sdk]: interbotix_xs_sdk
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/home/gringo/interbotix_ws/src
ROS path [2]=/opt/ros/noetic/share
[ WARN] [1716566410.645606866]: Shutdown request received.
[ WARN] [1716566410.648401969]: Reason given for shutdown: [[/wx250s/robot_state_publisher] Reason: new node registered with same name]
[wx250s/robot_state_publisher-1] process has finished cleanly
log file: /home/gringo/.ros/log/8fd30700-19e5-11ef-924b-dfaed8b34ae4/wx250s-robot_state_publisher-1*.log
[ERROR] [1716566411.166255083]: PluginlibFactory: The plugin for class 'interbotix_xs_rviz/Interbotix Control Panel' failed to load.  Error: According to the loaded plugin descriptions the class interbotix_xs_rviz/Interbotix Control Panel with base class type rviz::Panel does not exist. Declared types are  rviz_plugin_tutorials/Teleop
[rospack] Error: no package given
[librospack]: error while executing command
[rospack] Error: no package given
[librospack]: error while executing command
lukeschmitt-tr commented 1 month ago

RPi

Was your workspace build? Try running catkin_make in the interbotix_ws root and check the output for errors. Make sure that you're also sourcing the workspace devel setup script.

Remote

None of the packages are built when using the remote install script so you will not have access to any executables which is why the xsarm_control.launch command is failing.

However, running roslaunch interbotics_xsarm_descriptions remove_view.launch should not result in any errors. Could you share the error output there?

GRINGOLOCO7 commented 2 weeks ago

INTERBOTIX_SDK, IS NOT BEING INSTALLED....

in RPi:

ubuntu@ubuntu:~$ echo $ROS_MASTER_URI 
http://localhost:11311

in Personal Computer:

gringo@cassandra:~$ echo $ROS_MASTER_URI 
http://10.205.1.131:11311

(where 10.205.1.131 is IP of RPi) (I also tryed with hostname as suggested in the .bashrc)

in RPi: cd interbotix_ws-> catkin_make => all good source interbotix_ws/devel/setup.bash

in Personal Computer: cd interbotix_ws-> catkin_make => 

CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "interbotix_xs_sdk"
  with any of the following names:

    interbotix_xs_sdkConfig.cmake
    interbotix_xs_sdk-config.cmake

  Add the installation prefix of "interbotix_xs_sdk" to CMAKE_PREFIX_PATH or
  set "interbotix_xs_sdk_DIR" to a directory containing one of the above
  files.  If "interbotix_xs_sdk" provides a separate development package or
  SDK, be sure it has been installed.
Call Stack (most recent call first):
  interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_control/CMakeLists.txt:10 (find_package)

-- Configuring incomplete, errors occurred!
See also "/home/gringo/interbotix_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/gringo/interbotix_ws/build/CMakeFiles/CMakeError.log".
make: *** [Makefile:320: cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed

=> I can not find the package doing apt-cache search to then install it. So I wnt to the directory indicated:

/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_control$ cat CMakeLists.txt 
cmake_minimum_required(VERSION 2.8.3)
project(interbotix_xsarm_control)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  interbotix_xs_sdk
  interbotix_xs_modules
  interbotix_xsarm_descriptions
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
catkin_package(
CATKIN_DEPENDS interbotix_xs_sdk interbotix_xs_modules interbotix_xsarm_descriptions
)

source interbotix_ws/devel/setup.bash

in RPi: roslaunch interbotix_xsarm_control xsarm_control.launch robot_model:=wx250s use_rviz:=false => [ INFO] [1718289299.815935126]: [xs_sdk] Interbotix 'xs_sdk' node is up!

in Personal Computer: roslaunch interbotix_xsarm_descriptions remote_view.launch

RLException: Invalid <node> tag: <node> tag has an empty 'ns' attribute. 

Node xml is <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" ns="$(arg robot_name)"/>
The traceback for the exception was written to the log file
lukeschmitt-tr commented 1 week ago

RPi

Looks like everything is working well on your RPi.

Remote

The remote view launch requires that you provide a robot_name launch argument. This will be the same as the robot_model argument in the xsarm_control launch command as long as it is not overwritten. For the xsarm_control launch command you ran, the corresponding remote_view command would be:

roslaunch interbotics_xsarm_descriptions remove_view.launch robot_name:=wx250s

To your build errors — as stated previously, the remote installation script does not actually build any of the packages, including the interbotix_xs_sdk, which causes catkin_build to fail. This is intentional, as the remote only includes packages for remote viewing and simulation.