ajinkyamar
commented
9 months ago I referred to interbotix_ros_manipulators issues but the error still persists.
The terminal log
locobot@locobot:~$ ros2 launch interbotix_xslocobot_joy xslocobot_joy.launch.py robot_model:=locobot_wx250s use_rviz:=true use_lidar:=true
[INFO] [launch]: All log files can be found below /home/locobot/.ros/log/2023-09-28-08-31-44-569458-locobot-4209
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [4230]
[INFO] [joint_state_publisher-2]: process started with pid [4232]
[INFO] [rviz2-3]: process started with pid [4234]
[INFO] [xs_sdk-4]: process started with pid [4236]
[INFO] [sllidar_node-5]: process started with pid [4238]
[INFO] [component_container-6]: process started with pid [4240]
[INFO] [joy_node-7]: process started with pid [4242]
[INFO] [xslocobot_joy-8]: process started with pid [4249]
[INFO] [xslocobot_robot.py-9]: process started with pid [4274]
[xs_sdk-4] [INFO] Using Interbotix X-Series Driver Version: 'v0.3.3'.
[xs_sdk-4] [INFO] Using logging level 'INFO'.
[xs_sdk-4] [INFO] Loaded mode configs from '/home/locobot/interbotix_ws/install/interbotix_xslocobot_joy/share/interbotix_xslocobot_joy/config/modes_all.yaml'.
[xs_sdk-4] [INFO] Loaded motor configs from '/home/locobot/interbotix_ws/install/interbotix_xslocobot_control/share/interbotix_xslocobot_control/config/locobot_wx250s.yaml'.
[xs_sdk-4] [INFO] Pinging all motors specified in the motor_config file. (Attempt 1/3)
[sllidar_node-5] [INFO] [1695907905.855591239] [locobot.rplidar_composition]: SLLidar running on ROS2 package SLLidar.ROS2 SDK Version:1.0.1, SLLIDAR SDK Version:2.0.0
[xs_sdk-4] [INFO] Found DYNAMIXEL ID: 11, Model: 'XL430-W250-2', Joint Name: 'tilt'.
[sllidar_node-5] [INFO] [1695907905.902032253] [locobot.rplidar_composition]: SLLidar S/N: 6BFFED95C4E493CDA5E69EF0FA2F4B69
[sllidar_node-5] [INFO] [1695907905.902089657] [locobot.rplidar_composition]: Firmware Ver: 1.32
[sllidar_node-5] [INFO] [1695907905.902101745] [locobot.rplidar_composition]: Hardware Rev: 6
[xs_sdk-4] [INFO] Found DYNAMIXEL ID: 8, Model: 'XL430-W250', Joint Name: 'wrist_rotate'.
[sllidar_node-5] [INFO] [1695907905.953249565] [locobot.rplidar_composition]: SLLidar health status : 0
[sllidar_node-5] [INFO] [1695907905.953307888] [locobot.rplidar_composition]: SLLidar health status : OK.
[xs_sdk-4] [INFO] Found DYNAMIXEL ID: 7, Model: 'XM430-W350', Joint Name: 'wrist_angle'.
[xs_sdk-4] [INFO] Found DYNAMIXEL ID: 5, Model: 'XM430-W350', Joint Name: 'elbow_shadow'.
[xs_sdk-4] [INFO] Found DYNAMIXEL ID: 4, Model: 'XM430-W350', Joint Name: 'elbow'.
[xs_sdk-4] [INFO] Found DYNAMIXEL ID: 6, Model: 'XM430-W350', Joint Name: 'forearm_roll'.
[sllidar_node-5] [INFO] [1695907906.171694205] [locobot.rplidar_composition]: current scan mode: Sensitivity, sample rate: 16 Khz, max_distance: 16.0 m, scan frequency:10.0 Hz,
[xs_sdk-4] [INFO] Found DYNAMIXEL ID: 2, Model: 'XM430-W350', Joint Name: 'shoulder'.
[xs_sdk-4] [INFO] Found DYNAMIXEL ID: 10, Model: 'XL430-W250-2', Joint Name: 'pan'.
[xs_sdk-4] [INFO] Found DYNAMIXEL ID: 9, Model: 'XL430-W250', Joint Name: 'gripper'.
[xs_sdk-4] [INFO] Found DYNAMIXEL ID: 3, Model: 'XM430-W350', Joint Name: 'shoulder_shadow'.
[xs_sdk-4] [INFO] Found DYNAMIXEL ID: 1, Model: 'XM430-W350', Joint Name: 'waist'.
[xs_sdk-4] [WARN] Writing startup register values to EEPROM. This only needs to be done once on a robot if using a default motor config file, or after a motor config file has been modified. Can set write_eeprom_on_startup to false from now on.
[xs_sdk-4] [INFO] The operating mode for the 'arm' group was changed to 'position' with profile type 'time'.
[xs_sdk-4] [INFO] The operating mode for the 'camera' group was changed to 'position' with profile type 'velocity'.
[xs_sdk-4] [INFO] The operating mode for the 'gripper' joint was changed to 'pwm' with profile type 'velocity'.
[xs_sdk-4] [INFO] Interbotix X-Series Driver is up!
[xs_sdk-4] [INFO] [1695907908.038204005] [interbotix_xs_sdk.xs_sdk]: InterbotixRobotXS is up!
[xslocobot_robot.py-9] [ERROR] [1695907916.402942611] [locobot.robot_manipulation]: Failed to find services under namespace 'locobot'. Is the xs_sdk running? Shutting down...
[ERROR] [xslocobot_robot.py-9]: process has died [pid 4274, exit code 1, cmd '/home/locobot/interbotix_ws/install/interbotix_xslocobot_joy/lib/interbotix_xslocobot_joy/xslocobot_robot.py --robot_model locobot_wx250s --robot_name locobot --use_base true --ros-args -r __ns:=/locobot --params-file /tmp/launch_params_bqe6_nzt'].
Question
I am trying to move arms using the following command:
ros2 launch interbotix_xslocobot_moveit xslocobot_moveit.launch.py robot_model:=locobot_wx250s hardware_type:=actual
This worked perfectly well most of time. There was an error regarding the controller manager which was resolved after I used the below commands and rebooted ( as mentioned in the documentation)
ros2 daemon stop ros2 daemon start
However, now the same error has occurred and I am not able to resolve it using the above method.
Can someone please help me with this?
I have added the log from the terminal in the additional information section.
Thanks
Robot Model
locobot_wx250s
Operating System
Ubuntu 20.04
ROS Version
ROS 2 Galactic
Additional Info