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Interbotix / interbotix_ros_rovers

ROS Packages for Interbotix Rovers
BSD 3-Clause "New" or "Revised" License
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[Bug]: Waist motor position is incorrect, is a factory reset in the dynamixel wizard advisable? #15

Closed sebbyjp closed 2 years ago

sebbyjp commented 2 years ago

What happened?

The waist position is -0.78 radians about when it should be zero. On the remote_view launch node, the arm is displayed at -0.78 radians incorrectly.

I do not believe this is a mechanical issue but I cannot see the waist motor as it is covered.

I tried rebooting all the motors with the rosservice "reboot_motors" but it did not help. I am unable to calibrate in dynamixal wizard 2.0 as I get a "calibration bootloader error" message. All firmware is up to date.

Robot Model

locobot_wx250s

Operating System

Ubuntu 18.04

Steps To Reproduce

Unclear

Relevant log output

No response

Anything Else

No response

sebbyjp commented 2 years ago

I solved the issue. The dynamixel calibration tool works if you only have one motor connected and you unplug and replug power immediately (don't wait a few seconds like it asks). I however calibrated incorrectly (mixed up 12 o' clock and 6 o' clock) but after factory resetting it automatically fixed.

I believe this issue was indeed caused by the waist being rotated 360 degrees at some point but I cannot be sure.

lukeschmitt-tr commented 2 years ago

Glad to hear that you were able to solve it. Feel free to reopen if you have further problems with this.