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ROBOTIS-GIT / ROBOTIS-OP3

ROS packages for the ROBOTIS OP3
http://emanual.robotis.com/docs/en/platform/op3/introduction/
Apache License 2.0
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error when try op3_manager with XM540-W270-R #50

Closed msaufyrohmad closed 6 years ago

msaufyrohmad commented 6 years ago

hi i try op3 manager with set of 15 xm540 servos.

i already change the .robot file and add XM-540.device file.

but when i try to run the op3manager with op3_manager.launch, this message appear.

process[op3_localization-2]: started with pid [26270] [ERROR] [1532100652.615660890]: Torque on DXLs! [[RxPacketError] Unknown error code!] [ERROR] [1532100652.651648647]: Torque on DXLs! [[RxPacketError] Unknown error code!] [ERROR] [1532100652.687631622]: Torque on DXLs! [[RxPacketError] Unknown error code!] [ERROR] [1532100652.723618992]: Torque on DXLs! [[RxPacketError] Unknown error code!] [ERROR] [1532100652.759606870]: Torque on DXLs! [[RxPacketError] Unknown error code!] [ERROR] [1532100652.895751751]: Fail to control LED [[RxPacketError] Unknown error code!] /dev/ttyACM0 added. (baudrate: 57600) (/dev/ttyACM0) [ID: 1] XM-540 added. (/dev/ttyACM0) [ID: 2] XM-540 added. (/dev/ttyACM0) [ID: 3] XM-540 added. (/dev/ttyACM0) [ID: 4] XM-540 added. (/dev/ttyACM0) [ID: 5] XM-540 added. (/dev/ttyACM0) [ID: 6] XM-540 added. (/dev/ttyACM0) [ID: 7] XM-540 added. (/dev/ttyACM0) [ID: 8] XM-540 added. (/dev/ttyACM0) [ID: 9] XM-540 added. (/dev/ttyACM0) [ID: 10] XM-540 added. (/dev/ttyACM0) [ID: 11] XM-540 added. (/dev/ttyACM0) [ID: 12] XM-540 added. (/dev/ttyACM0) [ID: 13] XM-540 added. (/dev/ttyACM0) [ID: 14] XM-540 added. (/dev/ttyACM0) [ID: 15] XM-540 added. (/dev/ttyACM0) [ID:200] OPEN-CR added. [ INFO] [1532100654.028718785]: Load offsets... [ WARN] [1532100654.348599766]: Head control - angle unit : 30 [ERROR] [1532100655.314481806]: [RobotisController] first bulk read fail!! terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector >' what(): boost: mutex lock failed in pthread_mutex_lock: Invalid arguu ment [adam_manager-1] process has died [pid 26241, exit code -6, cmd /home/husein/catkin_ws/devel/lib/adam_manager/adam_manager __name:=adam_manager __log:=/home/husein/.ros/log/7ff5bac6-8c2e-11e8-a852-240a64b1d379/adam_manager-1.log]. log file: /home/husein/.ros/log/7ff5bac6-8c2e-11e8-a852-240a64b1d379/adam_manager-1*.log

I think i already change what suppose to change, but i study here.

thanks You very much

saufy

kaym9n commented 6 years ago

Hello.

[ERROR] [1532100652.615660890]: Torque on DXLs! [[RxPacketError] Unknown error code!]
[ERROR] [1532100652.651648647]: Torque on DXLs! [[RxPacketError] Unknown error code!]
[ERROR] [1532100652.687631622]: Torque on DXLs! [[RxPacketError] Unknown error code!]
[ERROR] [1532100652.723618992]: Torque on DXLs! [[RxPacketError] Unknown error code!]
[ERROR] [1532100652.759606870]: Torque on DXLs! [[RxPacketError] Unknown error code!]
[ERROR] [1532100652.895751751]: Fail to control LED [[RxPacketError] Unknown error code!]

Upper Error means that you don't use OPEN-CR whose ID for communication is 200. Please refer the link.

[ERROR] [1532100655.314481806]: [RobotisController] first bulk read fail!!
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injectorboost::lock_error >'

And second one has 2 solution.

  1. Get superuser privilege while maintaining the bash environment please.

    $ sudo bash

  2. Follow the Other settings of the PC Setting please.

msaufyrohmad commented 6 years ago

do i need to used open-cr-op3 firmware or use dxl-to-usb is enough?

its 200 is default id for opencr?

saufy

On Mon, Jul 23, 2018 at 7:08 AM, Kayman notifications@github.com wrote:

Hello.

[ERROR] [1532100652.615660890]: Torque on DXLs! [[RxPacketError] Unknown error code!] [ERROR] [1532100652.651648647]: Torque on DXLs! [[RxPacketError] Unknown error code!] [ERROR] [1532100652.687631622]: Torque on DXLs! [[RxPacketError] Unknown error code!] [ERROR] [1532100652.723618992]: Torque on DXLs! [[RxPacketError] Unknown error code!] [ERROR] [1532100652.759606870]: Torque on DXLs! [[RxPacketError] Unknown error code!] [ERROR] [1532100652.895751751]: Fail to control LED [[RxPacketError] Unknown error code!]

Upper Error means that you don't use OPEN-CR whose ID for communication is 200. Please refer the link http://emanual.robotis.com/docs/en/parts/controller/opencr10/#op3.

[ERROR] [1532100655.314481806]: [RobotisController] first bulk read fail!! terminate called after throwing an instance of 'boost::exception_detail::clone_impl'

And second one has 2 solution.

1.

Get superuser privilege while maintaining the bash environment please.

$ sudo bash

2.

Follow the Other settings of the PC Setting http://emanual.robotis.com/docs/en/platform/op3/recovery/#pc-setting please.

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/ROBOTIS-GIT/ROBOTIS-OP3/issues/50#issuecomment-406904405, or mute the thread https://github.com/notifications/unsubscribe-auth/AVeEQaOvomaEPrpxdoNZiptwnT564HoXks5uJQYIgaJpZM4VYOop .

kaym9n commented 6 years ago

If you have an another plan for power control and sensor not using OpenCR, you don't have to use OpenCR. UsbToDxnamixel is enough. In the case of ROBOTIS-OP3, we used OpenCR in order to control the power source. It's a system block diagram of ROBOTIS-OP3. and please refer to the control table of OpenCR.

200 is a default ID of OpenCR in the firmware for ROBOTIS-OP3.

msaufyrohmad commented 6 years ago

im using opencr with 15 xm540-w270-r that connected in series.

i used opencr_op3 firmware (so the ID of opencr is 200).

and i use OP3.robot and change accordingly based on my setup.

I use /dev/ttyACM0 to connect to openCR. why in op3.robot the motor portname is /dev/ttyUSB0? do i need to change all the motor port to /dev/ttyACM0?

i think i already follow every step, one by one. but i still stuck.

thank you very much robotis

saufy

On Fri, Jul 27, 2018 at 9:13 AM, Kayman notifications@github.com wrote:

If you have an another plan for power control not using OpenCR, you don't have to use OpenCR. UsbToDxnamixel is enough. In the case of ROBOTIS-OP3, we used OpenCR in order to control the power source. It's a system block diagram http://emanual.robotis.com/docs/en/platform/op3/quick_start/#system-block-diagram of ROBOTIS-OP3.

200 is a default ID of OpenCR in the firmware for ROBOTIS-OP3.

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/ROBOTIS-GIT/ROBOTIS-OP3/issues/50#issuecomment-408281343, or mute the thread https://github.com/notifications/unsubscribe-auth/AVeEQT6OifniQHEJWkk9_ToM7RW8om2Iks5uKmktgaJpZM4VYOop .

kaym9n commented 6 years ago

I see. I finally know what is different between you and I.
We used OpenCR like a dynamixel under the U2D2 in ROBOTIS-OP3.
/dev/ttyUSB0 is a portname of U2D2. This is a communication structure of ROBOTIS-OP3. 

PC - U2D2 - OpenCR (200)
          - Dynamixel (1)
          - Dynamixel (2)
          - ...

Maybe it will work if you change the robot file and a launch file. The developer of OpenCr is in vacation until next week.
Could you test following method.

  1. change a robot file
    • open a OP3.robot file.
    • replace /dev/ttyUSB0 to /dev/ttyACM0.
  2. change a launch file
    • open a op3_manager.launch file.
    • replace /dev/ttyUSB0 to /dev/ttyACM0.

When my colleague comes back next week, I'll ask him that whether it is possible to communicate with OpenCR and dynamixels using micro usb port of OpenCR under the firmware for ROBOTIS-OP3.

msaufyrohmad commented 6 years ago

oh. we are connecting direct from PC --> OpenCR --> XM540-W270

I already change the .robot file, offset.yaml and dxl_init file. I change to /dev/ttyACM1 for all joint in .robot file. i also change in launch file to /dev/ttyACM1. the devices file also i use XM540-W270. After i run roslaunch this output appear. help me please. thank you very much.

process[op3_localization-2]: started with pid [28889]

[ERROR] [1533087892.774784135]: Torque on DXLs! [[RxPacketError] Unknown error code!] [ERROR] [1533087892.810790056]: Torque on DXLs! [[RxPacketError] Unknown error code!] [ERROR] [1533087892.846772185]: Torque on DXLs! [[RxPacketError] Unknown error code!] [ERROR] [1533087892.882775876]: Torque on DXLs! [[RxPacketError] Unknown error code!] [ERROR] [1533087892.918777710]: Torque on DXLs! [[RxPacketError] Unknown error code!] [ERROR] [1533087893.054881841]: Fail to control LED [[RxPacketError] Unknown error code!] /dev/ttyACM1 added. (baudrate: 57600) (/dev/ttyACM1) [ID: 1] XM-540-W270 added. (/dev/ttyACM1) [ID: 2] XM-540-W270 added. (/dev/ttyACM1) [ID: 3] XM-540-W270 added. (/dev/ttyACM1) [ID: 4] XM-540-W270 added. (/dev/ttyACM1) [ID: 5] XM-540-W270 added. (/dev/ttyACM1) [ID: 6] XM-540-W270 added. (/dev/ttyACM1) [ID: 7] XM-540-W270 added. (/dev/ttyACM1) [ID: 8] XM-540-W270 added. (/dev/ttyACM1) [ID: 9] XM-540-W270 added. (/dev/ttyACM1) [ID: 10] XM-540-W270 added. (/dev/ttyACM1) [ID: 11] XM-540-W270 added. (/dev/ttyACM1) [ID: 12] XM-540-W270 added. (/dev/ttyACM1) [ID: 13] XM-540-W270 added. (/dev/ttyACM1) [ID: 14] XM-540-W270 added. (/dev/ttyACM1) [ID: 15] XM-540-W270 added. (/dev/ttyACM1) [ID:200] OPEN-CR added. [ERROR] [1533087893.244897528]: JOINT[head_yaw] does NOT respond!! [ERROR] [1533087893.326990026]: JOINT[r_ank_pitch] does NOT respond!! [ERROR] [1533087893.409011186]: JOINT[r_ank_pitchS] does NOT respond!! [ERROR] [1533087893.491112007]: JOINT[r_ank_roll] does NOT respond!! [ERROR] [1533087893.573152217]: JOINT[r_ank_rollS] does NOT respond!!

-saufy

On Mon, Jul 30, 2018 at 10:31 AM, Kayman notifications@github.com wrote:

I see. I finally know what is different between you and I. We used OpenCR like a dynamixel under the U2D2 http://emanual.robotis.com/docs/en/parts/interface/u2d2/ in ROBOTIS-OP3. /dev/ttyUSB0 is a portname of U2D2. This is an electronic structure of ROBOTIS-OP3.

PC - U2D2 - OpenCR (200)

  • Dynamixel (1)
  • Dynamixel (2)
  • ...

Maybe it will work if you change the robot file and a launch file. The developer of OpenCr is in vacation until next week. Could you test following method.

  1. change a robot file
    • open a OP3.robot file.
    • replace /dev/ttyUSB0 to /dev/ttyACM0.
  2. change a launch file
    • open a op3_manager.launch file.
    • replace /dev/ttyUSB0 to /dev/ttyACM0.

When my colleague is coming next week ,I'll ask him that whether it is possible to communicate with OpenCR and dynamixels using micro usb port of OpenCR under the firmware for ROBOTIS-OP3.

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/ROBOTIS-GIT/ROBOTIS-OP3/issues/50#issuecomment-408729958, or mute the thread https://github.com/notifications/unsubscribe-auth/AVeEQXajdGAfPhfoVOHttAze-fB6z8Lzks5uLnACgaJpZM4VYOop .

msaufyrohmad commented 6 years ago

i dont have U2D2 but i just try to use USB2Dynamixel and connect RS485 in USB2Dynamixel to OpenCR.

i have 2 questions:

  1. do i need to download opencr_op3 firmware into opencr before i connect opencr to USB2Dynamixel?
  2. do i need to download anything into USB2Dynamixel? or i need to download any firmware first?

thank you very much

saufy

On Wed, Aug 1, 2018 at 9:52 AM, Muhammad Saufy Rohmad msaufy@gmail.com wrote:

oh. we are connecting direct from PC --> OpenCR --> XM540-W270

I already change the .robot file, offset.yaml and dxl_init file. I change to /dev/ttyACM1 for all joint in .robot file. i also change in launch file to /dev/ttyACM1. the devices file also i use XM540-W270. After i run roslaunch this output appear. help me please. thank you very much.

process[op3_localization-2]: started with pid [28889]

[ERROR] [1533087892.774784135]: Torque on DXLs! [[RxPacketError] Unknown error code!] [ERROR] [1533087892.810790056]: Torque on DXLs! [[RxPacketError] Unknown error code!] [ERROR] [1533087892.846772185]: Torque on DXLs! [[RxPacketError] Unknown error code!] [ERROR] [1533087892.882775876]: Torque on DXLs! [[RxPacketError] Unknown error code!] [ERROR] [1533087892.918777710]: Torque on DXLs! [[RxPacketError] Unknown error code!] [ERROR] [1533087893.054881841]: Fail to control LED [[RxPacketError] Unknown error code!] /dev/ttyACM1 added. (baudrate: 57600) (/dev/ttyACM1) [ID: 1] XM-540-W270 added. (/dev/ttyACM1) [ID: 2] XM-540-W270 added. (/dev/ttyACM1) [ID: 3] XM-540-W270 added. (/dev/ttyACM1) [ID: 4] XM-540-W270 added. (/dev/ttyACM1) [ID: 5] XM-540-W270 added. (/dev/ttyACM1) [ID: 6] XM-540-W270 added. (/dev/ttyACM1) [ID: 7] XM-540-W270 added. (/dev/ttyACM1) [ID: 8] XM-540-W270 added. (/dev/ttyACM1) [ID: 9] XM-540-W270 added. (/dev/ttyACM1) [ID: 10] XM-540-W270 added. (/dev/ttyACM1) [ID: 11] XM-540-W270 added. (/dev/ttyACM1) [ID: 12] XM-540-W270 added. (/dev/ttyACM1) [ID: 13] XM-540-W270 added. (/dev/ttyACM1) [ID: 14] XM-540-W270 added. (/dev/ttyACM1) [ID: 15] XM-540-W270 added. (/dev/ttyACM1) [ID:200] OPEN-CR added. [ERROR] [1533087893.244897528]: JOINT[head_yaw] does NOT respond!! [ERROR] [1533087893.326990026]: JOINT[r_ank_pitch] does NOT respond!! [ERROR] [1533087893.409011186]: JOINT[r_ank_pitchS] does NOT respond!! [ERROR] [1533087893.491112007]: JOINT[r_ank_roll] does NOT respond!! [ERROR] [1533087893.573152217]: JOINT[r_ank_rollS] does NOT respond!!

-saufy

On Mon, Jul 30, 2018 at 10:31 AM, Kayman notifications@github.com wrote:

I see. I finally know what is different between you and I. We used OpenCR like a dynamixel under the U2D2 http://emanual.robotis.com/docs/en/parts/interface/u2d2/ in ROBOTIS-OP3. /dev/ttyUSB0 is a portname of U2D2. This is an electronic structure of ROBOTIS-OP3.

PC - U2D2 - OpenCR (200)

  • Dynamixel (1)
  • Dynamixel (2)
  • ...

Maybe it will work if you change the robot file and a launch file. The developer of OpenCr is in vacation until next week. Could you test following method.

  1. change a robot file
    • open a OP3.robot file.
    • replace /dev/ttyUSB0 to /dev/ttyACM0.
  2. change a launch file
    • open a op3_manager.launch file.
    • replace /dev/ttyUSB0 to /dev/ttyACM0.

When my colleague is coming next week ,I'll ask him that whether it is possible to communicate with OpenCR and dynamixels using micro usb port of OpenCR under the firmware for ROBOTIS-OP3.

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/ROBOTIS-GIT/ROBOTIS-OP3/issues/50#issuecomment-408729958, or mute the thread https://github.com/notifications/unsubscribe-auth/AVeEQXajdGAfPhfoVOHttAze-fB6z8Lzks5uLnACgaJpZM4VYOop .

kaym9n commented 6 years ago

Yes, you can use USB2Dynamixel instead of U2D2.

Q1 : If you want to use function of power control or sensor(gyro, accelermeter), you have to download a firmware for ROBOTIS-OP3 into OpenCR. (emanual)

Q2 : you don't have to do anything.

Good luck.

msaufyrohmad commented 6 years ago

thank you, it progressing.

i already can set the torque. but the ping still not work

[ INFO] [1533097846.650661842]: Torque on DXLs! /dev/ttyUSB0 added. (baudrate: 2000000) (/dev/ttyUSB0) [ID: 1] XM-540-W270 added. ... ... (/dev/ttyUSB0) [ID: 15] XM-540-W270 added. (/dev/ttyUSB0) [ID:200] OPEN-CR added. [ERROR] [1533097213.167007397]: ADAM JOINT[head_yaw] does NOT respond!! [ERROR] [1533097213.245370361]: ADAM JOINT[r_ank_pitch] does NOT respond!! [ERROR] [1533097213.323732783]: ADAM JOINT[r_ank_pitchS] does NOT respond!!

this is my connection

PC USB Port ---> USB2Dynamixel (/dev/ttyUSB0) ---> OpenCR (load with opencr_op3 firmware) --> XM540-W270 (15 units in series).

can u help me?

saufy

On Wed, Aug 1, 2018 at 12:21 PM, Kayman notifications@github.com wrote:

Yes, you can use USB2Dynamixel instead of U2D2.

Q1 : If you want to use function of power control or sensor(gyro, accelermeter), you have to download a firmware for ROBOTIS-OP3 into OpenCR. (emanual http://emanual.robotis.com/docs/en/parts/controller/opencr10/#op3)

Q2 : you don't have to do anything.

Good luck.

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/ROBOTIS-GIT/ROBOTIS-OP3/issues/50#issuecomment-409444571, or mute the thread https://github.com/notifications/unsubscribe-auth/AVeEQSMvZuLpMrZjlo1egcroGDK78Iw6ks5uMSzCgaJpZM4VYOop .

kaym9n commented 6 years ago

I don't know what is problem.

Could you give me a photo of your hardware configuration? I want to see it. And please give me your robot file too.

msaufyrohmad commented 6 years ago

ok this is my adam.robot file. below is image,

[ control info ] control_cycle = 8 # milliseconds

[ port info ]

PORT NAME | BAUDRATE | DEFAULT JOINT

/dev/ttyUSB0 | 2000000 | r_ank_pitch

[ device info ]

TYPE | PORT NAME | ID | MODEL | PROTOCOL | DEV NAME

| BULK READ ITEMS dynamixel | /dev/ttyUSB0 | 1 | XM540-W270 | 2.0 | r_ank_pitch | present_position dynamixel | /dev/ttyUSB0 | 2 | XM540-W270 | 2.0 | r_ank_pitchS | present_position dynamixel | /dev/ttyUSB0 | 3 | XM540-W270 | 2.0 | r_ank_roll | present_position dynamixel | /dev/ttyUSB0 | 4 | XM540-W270 | 2.0 | r_ank_rollS | present_position dynamixel | /dev/ttyUSB0 | 5 | XM540-W270 | 2.0 | r_knee_roll | present_position dynamixel | /dev/ttyUSB0 | 6 | XM540-W270 | 2.0 | r_knee_rollS | present_position dynamixel | /dev/ttyUSB0 | 7 | XM540-W270 | 2.0 | r_knee_rollS2 | present_position dynamixel | /dev/ttyUSB0 | 8 | XM540-W270 | 2.0 | r_knee_rollS3 | present_position dynamixel | /dev/ttyUSB0 | 9 | XM540-W270 | 2.0 | r_hip_roll | present_position dynamixel | /dev/ttyUSB0 | 10 | XM540-W270 | 2.0 | r_hip_rollS | present_position dynamixel | /dev/ttyUSB0 | 11 | XM540-W270 | 2.0 | r_hip_pitch | present_position dynamixel | /dev/ttyUSB0 | 12 | XM540-W270 | 2.0 | r_hip_pitchS | present_position dynamixel | /dev/ttyUSB0 | 13 | XM540-W270 | 2.0 | r_hip_yaw | present_position dynamixel | /dev/ttyUSB0 | 14 | XM540-W270 | 2.0 | r_hip_yawS | present_position dynamixel | /dev/ttyUSB0 | 15 | XM540-W270 | 2.0 | head_yaw | present_position sensor | /dev/ttyUSB0 | 200 | OPEN-CR | 2.0 | open-cr | button, present_voltage, gyro_x, gyro_y, gyro_z, acc_x, acc_y, acc_z, roll, pitch, yaw ~

The image: USB2Dynamixel connected to laptop USB /dev/ttyUSB0 and RS485 to OpenCR. OpenCR connect to XM540-W270 in series.

thnks,

saufy

On Wed, Aug 1, 2018 at 1:27 PM, Kayman notifications@github.com wrote:

I don't know what is problem.

Could you give me a photo of your hardware configuration? I want to see it. And please give me your robot file too.

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/ROBOTIS-GIT/ROBOTIS-OP3/issues/50#issuecomment-409453751, or mute the thread https://github.com/notifications/unsubscribe-auth/AVeEQYvBBLzMjo_M-dcG8asDFV2r0ALgks5uMTxBgaJpZM4VYOop .

kaym9n commented 6 years ago

I think there is no problem in the robot file.

How about checking ID, baud rate, protocol version of dynamixels? They have to be same between a robot file and dynamixels.

I'll test it in the similar condition and let you know the result.

kaym9n commented 6 years ago

It works for me. This is my test condition.

[ port info ]

PORT NAME | BAUDRATE | DEFAULT JOINT

/dev/ttyUSB0 | 2000000 | r_sho_pitch

[ device info ]

TYPE | PORT NAME | ID | MODEL | PROTOCOL | DEV NAME | BULK READ ITEMS

dynamixel | /dev/ttyUSB0 | 1 | XM540-W150 | 2.0 | r_sho_pitch | present_position, position_p_gain, position_d_gain, position_i_gain dynamixel | /dev/ttyUSB0 | 2 | XM540-W270 | 2.0 | l_sho_pitch | present_position, position_p_gain, position_d_gain, position_i_gain sensor | /dev/ttyUSB0 | 200 | OPEN-CR | 2.0 | open-cr | button, present_voltage, gyro_x, gyro_y, gyro_z, acc_x, acc_y, acc_z, roll, pitch, yaw


- execution screen
![image](https://user-images.githubusercontent.com/16040148/43506903-947f8f18-95a6-11e8-9314-eeee60205da6.png)
- HW configuration
![image](https://user-images.githubusercontent.com/16040148/43507303-b43e705c-95a7-11e8-9afb-c2d2d6fc94c4.png)
msaufyrohmad commented 6 years ago

i still cant. ok i tell u my configuration

Hardware Config (image attached) PC USB ----rs485----> Dynamixel --> .... Dynamixel ---,........(15 units) -----rs485---> OpenCR --- power cable ---> plug

Software Config baudrate 2000000 port /dev/ttyUSB0

adam.robot configured like urs

but, i have 7 master and 8 slaves servos. thus this that cause the problem?

do i need to put all servos (including the slaves) in the .robot file or just put the master? for now i put all master and slaves in .robot file

thank you for your patient helping me out

saufy

On Wed, Aug 1, 2018 at 3:21 PM, Kayman notifications@github.com wrote:

It works for me. This is my test condition.

  • dynamixels
    • XM540-W150
      • ID : 1
      • baudrate : 2000000
    • XM540-W270
      • ID : 2
      • baudrate : 2000000
    • robot file

[ control info ] control_cycle = 8 # milliseconds

[ port info ]

PORT NAME | BAUDRATE | DEFAULT JOINT

/dev/ttyUSB0 | 2000000 | r_sho_pitch

[ device info ]

TYPE | PORT NAME | ID | MODEL | PROTOCOL | DEV NAME | BULK READ ITEMS

dynamixel | /dev/ttyUSB0 | 1 | XM540-W150 | 2.0 | r_sho_pitch | present_position, position_p_gain, position_d_gain, position_i_gain dynamixel | /dev/ttyUSB0 | 2 | XM540-W270 | 2.0 | l_sho_pitch | present_position, position_p_gain, position_d_gain, position_i_gain sensor | /dev/ttyUSB0 | 200 | OPEN-CR | 2.0 | open-cr | button, present_voltage, gyro_x, gyro_y, gyro_z, acc_x, acc_y, acc_z, roll, pitch, yaw

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/ROBOTIS-GIT/ROBOTIS-OP3/issues/50#issuecomment-409476096, or mute the thread https://github.com/notifications/unsubscribe-auth/AVeEQbhoycm72RWym7eVUoXLfZoZIES2ks5uMVcRgaJpZM4VYOop .

kaym9n commented 6 years ago

What kind of method did you use for master and slave? Is it using direct cable or secondary id?

msaufyrohmad commented 6 years ago

direct cable. some is cross and some is straight. depend on the design (for cw or ccw slaves). already tested and works fine

saufy

On Thu, Aug 2, 2018 at 9:11 AM, Kayman notifications@github.com wrote:

What kind of method did you use for master and slave? Is it using direct cable http://emanual.robotis.com/docs/en/dxl/x/xm540-w270/#drive-mode10 or secondary id http://emanual.robotis.com/docs/en/dxl/x/xm540-w270/#secondaryshadow-id12 ?

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kaym9n commented 6 years ago

In my case, both of putting all servos to robot file and putting only masters are working.

I am wondering why number of slave is bigger than number of master. As I know, master and slave are connected one by one.

For now, I suspect that the firmware of OpenCR has been downloaded well.

[ port info ]

PORT NAME | BAUDRATE | DEFAULT JOINT

/dev/ttyUSB0 | 2000000 | r_sho_pitch

[ device info ]

TYPE | PORT NAME | ID | MODEL | PROTOCOL | DEV NAME | BULK READ ITEMS

dynamixel | /dev/ttyUSB0 | 1 | XM540-W150 | 2.0 | r_sho_pitch | present_position, position_p_gain, position_d_gain, position_i_gain dynamixel | /dev/ttyUSB0 | 2 | XM540-W270 | 2.0 | l_sho_pitch | present_position, position_p_gain, position_d_gain, position_i_gain dynamixel | /dev/ttyUSB0 | 3 | XM540-W270 | 2.0 | l_sho_pitchS | present_position, position_p_gain, position_d_gain, position_i_gain sensor | /dev/ttyUSB0 | 200 | OPEN-CR | 2.0 | open-cr | button, present_voltage, gyro_x, gyro_y, gyro_z, acc_x, acc_y, acc_z, roll, pitch, yaw


- HW configuration
![image](https://user-images.githubusercontent.com/16040148/43562581-5f422ab0-9658-11e8-94e6-63465229e3c7.png)
msaufyrohmad commented 6 years ago

i think i have some package that not installed properly. because i keep getting the same error message. i am using ubuntu 16.04, not linux mint, its have some problem here?

(/dev/ttyUSB0) [ID: 15] XM-540-W270 added. (/dev/ttyUSB0) [ID:200] OPEN-CR added. [ERROR] [1533261427.075738545]: ADAM JOINT[head_yaw] does NOT respond!! [ERROR] [1533261427.154023274]: ADAM JOINT[r_ank_pitch] does NOT respond!! [ERROR] [1533261427.232379208]: ADAM JOINT[r_ank_pitchS] does NOT respond!!

more than one slave is needed for our knee. one as master, one clock wise slave and 2 counter clock wise slave. but i think this is not the problem here.

thank you very much for following my problem one by one

saufy

On Thu, Aug 2, 2018 at 12:33 PM, Kayman notifications@github.com wrote:

In my case, both of putting all servos to robot file and putting only masters are working.

I am wondering why number of slave is bigger than number of master. As I know, master and slave are connected one by one.

  • robot file

[ control info ] control_cycle = 8 # milliseconds

[ port info ]

PORT NAME | BAUDRATE | DEFAULT JOINT

/dev/ttyUSB0 | 2000000 | r_sho_pitch

[ device info ]

TYPE | PORT NAME | ID | MODEL | PROTOCOL | DEV NAME | BULK READ ITEMS

dynamixel | /dev/ttyUSB0 | 1 | XM540-W150 | 2.0 | r_sho_pitch | present_position, position_p_gain, position_d_gain, position_i_gain dynamixel | /dev/ttyUSB0 | 2 | XM540-W270 | 2.0 | l_sho_pitch | present_position, position_p_gain, position_d_gain, position_i_gain dynamixel | /dev/ttyUSB0 | 3 | XM540-W270 | 2.0 | l_sho_pitchS | present_position, position_p_gain, position_d_gain, position_i_gain sensor | /dev/ttyUSB0 | 200 | OPEN-CR | 2.0 | open-cr | button, present_voltage, gyro_x, gyro_y, gyro_z, acc_x, acc_y, acc_z, roll, pitch, yaw

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kaym9n commented 6 years ago

Ubuntu 16.04 is fine as well. it also looks no problem there are one master and two slaves.

msaufyrohmad commented 6 years ago

where is the log file that i can see the error? i want to see where is the missing link between ROS and dxl motor

thanks

saufy

On Fri, Aug 3, 2018 at 2:58 PM, Kayman notifications@github.com wrote:

Ubuntu 16.04 is fine as well. it also looks no problem there are one master and two slaves.

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kaym9n commented 6 years ago

There is no log file. But If you change the flag for debug mode in robotis_controller.cpp, you can see the more log in the screen.

msaufyrohmad commented 6 years ago

ok thank u. ill try

saufy

On Mon, Aug 6, 2018 at 1:05 PM, Kayman notifications@github.com wrote:

There is no log file. But If you change the flag for debug mode in robotis_controller.cpp https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/blob/cd58b92487b701380ff606c6f430e891f1c12ad2/robotis_controller/src/robotis_controller/robotis_controller.cpp#L38, you can see the more log in the screen.

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robotpilot commented 6 years ago

I'm going to close this until you update the issue with more information. If you do so I'll reopen the issue. Thanks.

kaym9n commented 6 years ago

Hi robotis,

I am sorry i dont use github to post this issue. Because the thread already closed while i dont know what is the issue with my ROS configuration.

I use op3_manager and change the .robot, .yaml and offset.yaml files to follow my configuration.

Everything is the same with op3 manual and setup (except i use usb2dynamixel) instead of U2D2.

i use 15 XM540-W270 servos in series. The motor is tested with normal C program and it works.

When i run the op3_manager, the torque is enabled but the ping command failed.

this is the output:

[ INFO] [1534231410.306879754]: Torque on DXLs! [ INFO] [1534231410.418860378]: LED OK

/dev/ttyUSB0 added. (baudrate: 2000000) (/dev/ttyUSB0) [ID: 1] XM-540-W270 added. (/dev/ttyUSB0) [ID: 2] XM-540-W270 added.

..

.. .. .. (/dev/ttyUSB0) [ID: 14] XM-540-W270 added. (/dev/ttyUSB0) [ID: 15] XM-540-W270 added. (/dev/ttyUSB0) [ID:200] OPEN-CR added. [ERROR] [1534231410.549930366]: JOINT[head_yaw] does NOT respond!! [ERROR] [1534231410.628273609]: JOINT[r_ank_pitch] does NOT respond!! [ERROR] [1534231410.706590507]: JOINT[r_ank_pitchS] does NOT respond!!

I really stuck and i dont know what is the real problem. I hope robotis can help me. We bought a lot of XM540-W270 from robotis and i hope robotis can give support and help on this.

thank you very much,

saufy

kaym9n commented 6 years ago

Can I see the picture of your hardware? I don't know what thr problem is for now.

msaufyrohmad commented 6 years ago

this is my hardware configuration

PC USB Port --> usb2dynamixel --> RS485 to OpenCR -> RS485 OpenCR -> 3 XM540-W270 in series

i used op3_manager package with below adam.robot file

[ control info ] control_cycle = 8 # milliseconds

[ port info ]

PORT NAME | BAUDRATE | DEFAULT JOINT

/dev/ttyUSB0 | 2000000 | head_yaw

[ device info ]

TYPE | PORT NAME | ID | MODEL | PROTOCOL | DEV NAME

BULK READ ITEMS dynamixel /dev/ttyUSB0 1 XM-540-W270 2.0 r_ank_pitch present_position dynamixel /dev/ttyUSB0 2 XM-540-W270 2.0 r_ank_pitchS present_position dynamixel /dev/ttyUSB0 3 XM-540-W270 2.0 r_ank_roll present_position dynamixel /dev/ttyUSB0 4 XM-540-W270 2.0 r_ank_rollS present_position dynamixel /dev/ttyUSB0 5 XM-540-W270 2.0 r_knee_roll present_position dynamixel /dev/ttyUSB0 6 XM-540-W270 2.0 r_knee_rollS present_position dynamixel /dev/ttyUSB0 7 XM-540-W270 2.0 r_knee_rollS2 present_position dynamixel /dev/ttyUSB0 8 XM-540-W270 2.0 r_knee_rollS3 present_position dynamixel /dev/ttyUSB0 9 XM-540-W270 2.0 r_hip_roll present_position dynamixel /dev/ttyUSB0 10 XM-540-W270 2.0 r_hip_rollS present_position dynamixel /dev/ttyUSB0 11 XM-540-W270 2.0 r_hip_pitch present_position dynamixel /dev/ttyUSB0 12 XM-540-W270 2.0 r_hip_pitchS present_position dynamixel /dev/ttyUSB0 13 XM-540-W270 2.0 r_hip_yaw present_position dynamixel /dev/ttyUSB0 14 XM-540-W270 2.0 r_hip_yawS present_position dynamixel /dev/ttyUSB0 15 XM-540-W270 2.0 head_yaw present_position sensor /dev/ttyUSB0 200 OPEN-CR 2.0 open-cr

button,present_voltage,gyro_x,gyro_y,gyro_z,acc_x,acc_y,acc_z,roll,pitch,yaw ~

below .launch file

<!-- OP3 Manager -->
<node pkg="adam_manager" type="adam_manager" name="adam_manager"

output="screen">

    </node>

the baudrate is 2000000.

everything else is following op3_manager package. aid got below output.

[ INFO] [1534988445.602163817]: Torque on DXLs! [ INFO] [1534988445.714108317]: LED OK

/dev/ttyUSB0 added. (baudrate: 2000000) ADAM (/dev/ttyUSB0) [ID: 1] XM-540-W270 added. ADAM (/dev/ttyUSB0) [ID: 2] XM-540-W270 added. ADAM (/dev/ttyUSB0) [ID: 3] XM-540-W270 added. ADAM (/dev/ttyUSB0) [ID: 4] XM-540-W270 added. ADAM (/dev/ttyUSB0) [ID: 5] XM-540-W270 added. ADAM (/dev/ttyUSB0) [ID: 6] XM-540-W270 added. ADAM (/dev/ttyUSB0) [ID: 7] XM-540-W270 added. ADAM (/dev/ttyUSB0) [ID: 8] XM-540-W270 added. ADAM (/dev/ttyUSB0) [ID: 9] XM-540-W270 added. ADAM (/dev/ttyUSB0) [ID: 10] XM-540-W270 added. ADAM (/dev/ttyUSB0) [ID: 11] XM-540-W270 added. ADAM (/dev/ttyUSB0) [ID: 12] XM-540-W270 added. ADAM (/dev/ttyUSB0) [ID: 13] XM-540-W270 added. ADAM (/dev/ttyUSB0) [ID: 14] XM-540-W270 added. ADAM (/dev/ttyUSB0) [ID: 15] XM-540-W270 added. (/dev/ttyUSB0) [ID:200] OPEN-CR added. [ERROR] [1534988445.947550839]: ADAM JOINT[head_yaw] does NOT respond!! [ERROR] [1534988446.025891266]: ADAM JOINT[r_ank_pitch] does NOT respond!! [ERROR] [1534988446.104184619]: ADAM JOINT[r_ank_pitchS] does NOT respond!!

i dont know what is the error and i really hope get helps from robotis engineers.

thank you very much

saufy rohmad robopreneur sdn bhd

On Mon, Aug 20, 2018 at 10:31 AM, Kayman notifications@github.com wrote:

Can I see the picture of your hardware? I don't know what thr problem is for now.

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kaym9n commented 6 years ago

Did LED of Dynamixels blink when you run the manager.launch file? Otherwise, power was not supplied to the Dynamixel.

And I think your hardware configuration is fine. You have to debug using modifing the source code. (ex. robotis_controller)

msaufyrohmad commented 6 years ago

No LED blink in the servors.

but the torque enabling is worked fine.

[ INFO] [1535101606.623536048]: Torque on DXLs!

(/dev/ttyUSB0) [ID:200] OPEN-CR added.

PING Packet Handler id:15 result:-3001 // this is comment inside packet handler.c in dynamixel sdk PING Packet Handler id:15 result:-3001 [ERROR] [1535101606.844833668]: ADAM JOINT[head_yaw] does NOT respond!! // this is commend inside robotis_controller that u mention above PING Packet Handler id:1 result:-3001

since the torque enable is working, i think it is not about the power problem. thank you. i really need help on this

saufy

On Fri, Aug 24, 2018 at 12:26 PM Kayman notifications@github.com wrote:

Did LED of Dynamixels blink when you run the manager.launch file? Otherwise, power was not supplied to the Dynamixel.

And I think your hardware configuration is fine. You have to debug using modifing the source code. (ex. robotis_controller https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/blob/cd58b92487b701380ff606c6f430e891f1c12ad2/robotis_controller/src/robotis_controller/robotis_controller.cpp#L326 )

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kaym9n commented 6 years ago

When the power is on, the servo LED blinks once. Will you check when it blinks? In normal condition, LED blinks once when you run the manager.launch file. At the beginning of the manager, we send a packet to OpenCR to turn on dynamixel. Then the LED will blink. If it does not blink then OpenCR seems to have a problem.

And I want to see the picture of your robot. Using text alone will not help you anymore.

msaufyrohmad commented 6 years ago

When the power is on, the servo LED blinks once. Will you check when it blinks?

No, the servos not blink at all

In normal condition, LED blinks once when you run the manager.launch file.

No all servos LED not blinking

At the beginning of the manager, we send a packet to OpenCR to turn on dynamixel. Then the LED will blink. If it does not blink then OpenCR seems to have a problem.

not blink but openCR is working fine with other codes.

And I want to see the picture of your robot. [image: op3_manager.jpeg]

the hardware configuration is following what op3 is doing. we dont have a robot yet. just series of servos.

saufy, thank you very much

On Tue, Aug 28, 2018 at 8:28 AM Kayman notifications@github.com wrote:

When the power is on, the servo LED blinks once. Will you check when it blinks? In normal condition, LED blinks once when you run the manager.launch file. At the beginning of the manager, we send a packet to OpenCR to turn on dynamixel. Then the LED will blink. If it does not blink then OpenCR seems to have a problem.

And I want to see the picture of your robot. Using text alone will not help you anymore.

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kaym9n commented 6 years ago

When the power is on, the servo LED blinks once. Will you check when it blinks?

No, the servos not blink at all

It's impossible. AN XM540's LED also blinks when power is supplied. I think that the problem is about power.

The picture of series of servos is fine. Could you upload the image to this issue or send me via e-mail? I can't see the images you uploaded before.

robotpilot commented 6 years ago

This issue will be closed since there were no actions for a while. You can reopen this issue to show this issue to the users whenever. Thanks.

luqmansen commented 4 years ago

If you have another plan for power control and sensor not using OpenCR, you don't have to use OpenCR. UsbToDxnamixel is enough. In the case of ROBOTIS-OP3, we used OpenCR in order to control the power source. It's a system block diagram of ROBOTIS-OP3. and please refer to the control table of OpenCR.

Hello, regarding this statement, I want to clarify that I could totally not using an OpenCR to control a daisy-chained N number of dynamixel.

Currently, this is my configuration PC --- U2D2 ---- MX-64 --- MX-64 --.... (24 * MX-64) Based on this reference this should be totally supported. I'm only using the data pin from the U2D2 and then the power is using from another power source. My concern is about the bulk R/W performance when used in the realtime application (mine was a bipedal robot).

Another issue that I want to ask when trying to using the op3_manager code example, I experienced this problem

[ERROR] [1532100652.615660890]: Torque on DXLs! [[RxPacketError] Unknown error code!]

and your solution was

Upper Error means that you don't use OPEN-CR whose ID for communication is 200.

I'm unable to find the communication id of U2D2 anywhere on this docs

Thank you in advance

luqmansen commented 3 years ago

hello @ROBOTIS-Kayman, currently I'm using this configuration

PC --- OpenCR ---- MX-64 --- MX-64 --.... (24 * MX-64)

and my problem still persists like my previous question, could you help me regarding my problem? I'm stuck for quite a while now. Thank you in advance

ROBOTIS-Will commented 3 years ago

Hi @luqmansen , I'm sorry about the late reply.

In case of OP3, the controller reads the Present Position of 20 DYNAMIXEL with 8ms control frequency at 2Mbps so you should be fine with 24 DYNAMIXEL. (refer to : https://github.com/ROBOTIS-GIT/ROBOTIS-OP3/blob/master/op3_manager/config/OP3.robot)

OP3 uses the OpenCR for IMU and power supply, therefore, using U2D2 instead of OpenCR won't need the power on sequence which causes the aforementioned error in your case. If you are going to use the OpenCR, you should use a proper OpenCR firmware for OP3, or else, you can use U2D2 and supply power to DYNAMIXEL with a separate power line. In the latter case using U2D2, you may be able to avoid the error by commenting out the OpenCR related code line 170~207 of op3_manager.cpp file and line 239 which adds IMU sensor on the OpenCR.

Thank you.