lukeschmitt-tr
commented
2 years ago You may have an ID conflict somewhere along the chain. Try to remove the arm's 3-pin cable from the power hub so that the U2D2 can only see the pan/tilt two-axis servo. Run the Dynamixel Wizard, scan using the typical search parameters, and see if you can find the missing servos. If you can, set the IDs and baudrates according to the default servo configuration.
To the realsense issue, try running the command realsense-viewer command to see if librealsense can detect the camera without the ROS wrapper.
aaravrav142
What happened?
After installation of the software on the NUC on the locobot_wx250 and launching with the following command
roslaunch interbotix_xslocobot_control xslocobot_control.launch robot_model:=locobot_wx250s use_base:=true use_camera:=true use_lidar:=trueI am getting the following response. Basically the dynamixel ID 2, 11 are not found. Earlier I had the same issue with the 10 and 11 so I checked with the Dynamixel wizard tool and found that the pan tilt motors were on 57600 baud rate. As instructed I changed the baud rate to 1 MBPS. Soon after this, the ID 2 and 11 disappeared from the scan list. Also the realsense is not getting recognized on my NUC (New robot system).
locobot@locobot:~$ roslaunch interbotix_xslocobot_control xslocobot_control.launch robot_model:=locobot_wx250s use_base:=true use_camera:=true use_lidar:=trueRobot Model
locobot_wx250
Operating System
Ubuntu 20.04
ROS Distro
ROS1 Noetic
Steps To Reproduce
No response
Relevant log output
No response
Anything Else
The motors are powered because earlier I could see all the motors in the dynamixel wizard plus there is no red led flashing on any of the motors. The problem might be that by default the ID 2 is identical on the pan and the shoulder but I cannot change them as I cannot see the motors on the dynamixel wizard. I am not familiar with dyamixel motors so would like to avoid any disassembly of the arm at this point and would appreciate if there is any way I can fix this issue. Thanks