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ROBOTIS-GIT / dynamixel-workbench

ROS packages for Dynamixel controllers, msgs, single_manager, toolbox, tutorials
http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/
Apache License 2.0
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groupSyncRead getdata failed with DynamixelPro #234

Closed t-kitajima closed 5 years ago

t-kitajima commented 5 years ago

ISSUE TEMPLATE ver. 1.0.0

  1. How to setup? (ex, U2D2, OpenCR,...)

    • U2D2
    • H42-20-S300-R * 1
    • H54-200-S500-R *1
    • PC(Ubuntu16.04.1)
    • power supply(24V5A)
    • DynamixelSDK(05dcc5c551598b4d323bf1fb4b9d1ee03ad1dfd9)
    • dynamixel-workbench(bf60cf8f17e8385f623cbe72236938b5950d3b56)

  2. Which Dynamixel have you used? and how many? (Please describe below format to all connected Dynamixels)

    • Model Name H42-20-S300-R(ID:1) H54-200-S500-R(ID:2)

    • Baud Rate of Dynamixels 57600

    • Protocol Version 2.0

  3. Write down the commands you used in order

    $ roslaunch dynamixel_workbench_controllers dynamixel_controllers.launch

  4. Copy and Paste your error message on terminal

    
... logging to /home/kitajima/.ros/log/74ec3fc8-4eda-11e9-ab60-d46d6d3132ab/roslaunch-kitajima-P51-16071.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.1.117:46387/

SUMMARY

PARAMETERS

NODES / dynamixel_workbench (dynamixel_workbench_controllers/dynamixel_workbench_controllers)

auto-starting new master process[master]: started with pid [16081] ROS_MASTER_URI=http://192.168.1.117:11311/

setting /run_id to 74ec3fc8-4eda-11e9-ab60-d46d6d3132ab process[rosout-1]: started with pid [16094] started core service [/rosout] process[dynamixel_workbench-2]: started with pid [16106] [ INFO] [1553503579.163088091]: Name : pan, ID : 1, Model Number : 51200 [ INFO] [1553503579.203013999]: Name : tilt, ID : 2, Model Number : 54024 [ INFO] [1553503579.293156652]: [DynamixelDriver] Succeeded to add sync write handler [ INFO] [1553503579.293221377]: [DynamixelDriver] Succeeded to add sync write handler [ERROR] [1553503579.327025671]: groupSyncRead getdata failed [ERROR] [1553503579.338059314]: groupSyncRead getdata failed [ERROR] [1553503579.349049393]: groupSyncRead getdata failed [ERROR] [1553503579.360058931]: groupSyncRead getdata failed [ERROR] [1553503579.371067474]: groupSyncRead getdata failed [ERROR] [1553503579.382052598]: groupSyncRead getdata failed [ERROR] [1553503579.393008850]: groupSyncRead getdata failed [ERROR] [1553503579.404002915]: groupSyncRead getdata failed [ERROR] [1553503579.414981298]: groupSyncRead getdata failed [ERROR] [1553503579.425987180]: groupSyncRead getdata failed [ERROR] [1553503579.436980482]: groupSyncRead getdata failed [ERROR] [1553503579.447980200]: groupSyncRead getdata failed ...



5. Please, describe detailedly what difficulty you are in 
When I execute this dynamixel_controllers.launch, I keep getting "groupSyncRead getdata failed" error.
t-kitajima commented 5 years ago

When debugging using gdb, an error appears when adrress: 621, length: 2. I set the break point on line 1217 of dynamixel_driver.cpp and checked the value.

It seems to be an error in the execution of the following line.

sdk_error.dxl_getdata_result = syncReadHandler_[index].groupSyncRead->isAvailable(id[i], address, length);
... logging to /home/kitajima/.ros/log/3db22f10-4ef6-11e9-ab60-d46d6d3132ab/roslaunch-kitajima-P51-24872.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.1.117:40729/

SUMMARY
========

PARAMETERS
 * /dynamixel_info: /home/kitajima/ca...
 * /dynamixel_workbench/dxl_read_period: 0.01
 * /dynamixel_workbench/dxl_write_period: 0.01
 * /dynamixel_workbench/mobile_robot_config/radius_of_wheel: 0.033
 * /dynamixel_workbench/mobile_robot_config/seperation_between_wheels: 0.16
 * /dynamixel_workbench/publish_period: 0.01
 * /dynamixel_workbench/use_cmd_vel_topic: False
 * /dynamixel_workbench/use_joint_states_topic: True
 * /dynamixel_workbench/use_moveit: False
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    dynamixel_workbench (dynamixel_workbench_controllers/dynamixel_workbench_controllers)

auto-starting new master
process[master]: started with pid [24882]
ROS_MASTER_URI=http://192.168.1.117:11311/

setting /run_id to 3db22f10-4ef6-11e9-ab60-d46d6d3132ab
process[rosout-1]: started with pid [24895]
started core service [/rosout]
process[dynamixel_workbench-2]: started with pid [24906]
GNU gdb (Ubuntu 7.11.1-0ubuntu1~16.5) 7.11.1
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For help, type "help".
Type "apropos word" to search for commands related to "word"...
Reading symbols from /home/kitajima/catkin_ws/devel/lib/dynamixel_workbench_controllers/dynamixel_workbench_controllers...done.
(gdb) b dynamixel_driver.cpp:1217
No source file named dynamixel_driver.cpp.
Make breakpoint pending on future shared library load? (y or [n]) y
Breakpoint 1 (dynamixel_driver.cpp:1217) pending.
(gdb) r
Starting program: /home/kitajima/catkin_ws/devel/lib/dynamixel_workbench_controllers/dynamixel_workbench_controllers /dev/ttyUSB0 57600 __name:=dynamixel_workbench __log:=/home/kitajima/.ros/log/3db22f10-4ef6-11e9-ab60-d46d6d3132ab/dynamixel_workbench-2.log
[tcsetpgrp failed in terminal_inferior: デバイスに対する不適切なioctlです]
[tcsetpgrp failed in terminal_inferior: デバイスに対する不適切なioctlです]
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[tcsetpgrp failed in terminal_inferior: デバイスに対する不適切なioctlです]
[New Thread 0x7ffff13a9700 (LWP 24925)]
[New Thread 0x7ffff0ba8700 (LWP 24926)]
[New Thread 0x7fffebfff700 (LWP 24927)]
[New Thread 0x7fffeb7fe700 (LWP 24932)]
[ INFO] [1553515539.193762203]: Name : pan, ID : 1, Model Number : 51200
[ INFO] [1553515539.233719418]: Name : tilt, ID : 2, Model Number : 54024
[ INFO] [1553515539.323814519]: [DynamixelDriver] Succeeded to add sync write handler
[ INFO] [1553515539.323869421]: [DynamixelDriver] Succeeded to add sync write handler
[New Thread 0x7fffeaffd700 (LWP 24956)]

Thread 1 "dynamixel_workb" hit Breakpoint 1, DynamixelDriver::getSyncReadData (this=0x878720, index=0 '\000', id=0x7fffffffc370 "\001\002\377\377\377\177", 
    id_num=2 '\002', address=621, length=2, data=0x7fffffffc3a0, log=0x7fffffffc508)
    at /home/kitajima/catkin_ws/src/dynamixel-workbench/dynamixel_workbench_toolbox/src/dynamixel_workbench_toolbox/dynamixel_driver.cpp:1217
1217          if (log != NULL) *log = "groupSyncRead getdata failed";
(gdb) l
1212        sdk_error.dxl_getdata_result = syncReadHandler_[index].groupSyncRead->isAvailable(id[i], 
1213                                                                                          address, 
1214                                                                                          length);
1215        if (sdk_error.dxl_getdata_result != true)
1216        {
1217          if (log != NULL) *log = "groupSyncRead getdata failed";
1218          return false;
1219        }
1220        else
1221        {
(gdb) p sdk_error.dxl_getdata_result 
$1 = false
(gdb) p id[i]
$2 = 1 '\001'
(gdb) p address
$3 = 621
(gdb) p length
$4 = 2
(gdb)
routiful commented 5 years ago

@t-kitajima Sorry for late reply kitajima san. Dynamixel-Workbench have not supported A firmware for Dynamixel Pro series.

t-kitajima commented 5 years ago

@routiful The firmware used when this problem occurred is not A firmware. I think that take in the modification of PR will solve the problem. modified address range check logic of GroupSyncRead::isAvailable#294

routiful commented 5 years ago

@ROBOTIS-zerom Please review pull-request arise from Japan branch.

t-kitajima commented 5 years ago

@routiful The PR I sent was not correct. But when I was discussing with ROBOTIS-zerom, I found a suspicious spot. The calculation process of data_length is the sum of the values related to the address of the control table. In fact, this process seems to have problems, as there are areas not used for addresses. e.g. H54-200-S500-R

Address Size Data Name
611 4 Present Position
615 4 Present Velocity
619 2 not use area
621 2 Present Current
adrianwslee commented 5 years ago

The calculation process is right, but as @t-kitajima mentioned it, the datalength shouldn't be 10 for this model. The current dynmiaxel_workbench_controller line 255 & 266, groupSyncRead function reads Present Position & Present Velocity & Present Current, all together.

However, when the function checks "Present Current",

startaddress : 611 datalength : 10 address(Present Current) : 621 data_length : 2 611 + 10 < 623 returns false.

JaehyunShim commented 5 years ago

@t-kitajima

It should work now. Please let me know if you run into any other problems

Regards, Ryan

tomsepe commented 5 years ago

I am having a very similar issue using two types of dynamixels with a USB U2D2 controller. I downloaded the latest dynamixel_workbench this morning. and I have three types of servos the Pro series M42 & H42 and some XM540 and XM430. Is there a solution to this issue?????

ubuntu@ubiquityrobot:~/catkin_ws/src/dynamixel-workbench/dynamixel_workbench_toolbox/src/dynamixel_workbench_toolbox$ roslaunch dynamixel_workbench_controllers dynamixel_controllers.launch ... logging to /home/ubuntu/.ros/log/7377eb4e-d0dc-11e5-9d13-b827eb7765da/roslaunch-ubiquityrobot-6450.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://localhost:34549/

SUMMARY

PARAMETERS

NODES / dynamixel_workbench (dynamixel_workbench_controllers/dynamixel_workbench_controllers)

ROS_MASTER_URI=http://localhost:11311

process[dynamixel_workbench-1]: started with pid [6467] [ INFO] [1562188127.685684295]: Name : arm.upper.left, ID : 5, Model Number : 2100 [ INFO] [1562188127.726381166]: Name : arm.upper.right, ID : 6, Model Number : 2100 [ INFO] [1562188127.766423927]: Name : head.tilt.left, ID : 21, Model Number : 1020 [ INFO] [1562188127.806407158]: Name : head.tilt.right, ID : 22, Model Number : 1020 [ INFO] [1562188127.846409346]: Name : neck.pan, ID : 20, Model Number : 1020 [ INFO] [1562188127.886369764]: Name : shoulder.main.left, ID : 1, Model Number : 2000 [ INFO] [1562188127.926390859]: Name : shoulder.main.right, ID : 2, Model Number : 2000 [ INFO] [1562188127.966413411]: Name : shoulder.roll.left, ID : 3, Model Number : 2000 [ INFO] [1562188128.006378152]: Name : shoulder.roll.right, ID : 4, Model Number : 2000 [ INFO] [1562188128.411705263]: [DynamixelDriver] Succeeded to add sync write handler [ INFO] [1562188128.412116406]: [DynamixelDriver] Succeeded to add sync write handler [ERROR] [1562188128.555661257]: [TxRxResult] There is no status packet! [ERROR] [1562188128.556194482]: groupSyncRead getdata failed [ERROR] [1562188128.556425002]: groupSyncRead getdata failed [ERROR] [1562188128.556654948]: groupSyncRead getdata failed

JaehyunShim commented 5 years ago

@tomsepe

The issue here was that our package didn't work when using dxl pro motors, not about the problem occurring when using different types of motors. The bug about it has been fixed already so I recommend you only use pro models or only use X models.

Regards, Ryan

tomsepe commented 5 years ago

Ryan,

i appreciate the fast response but your answer is unacceptable.

i have purchase about $23k of pro and x series motors to use for 2 humanoid robots that I am building to be completed in September. my budget does not allow to use only pro servos, also the form factor is too big for the forearms and hands.

There has to be a different solution. perhaps I use 2 usb-serial converters.. or I use a different controller or a different software library.

On Wed, Jul 3, 2019 at 5:15 PM Ryan notifications@github.com wrote:

@tomsepe https://github.com/tomsepe

The issue here was that our package didn't work when using dxl pro motors, not about the problem occurring when using different types of motors. The bug about it has been fixed already so I recommend you only use pro models or only use X models.

Regards, Ryan

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/ROBOTIS-GIT/dynamixel-workbench/issues/234?email_source=notifications&email_token=AANG3OK4FGDREUQVYJAUHWDP5U6LPA5CNFSM4HAZTPYKYY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGODZF7J3Y#issuecomment-508294383, or mute the thread https://github.com/notifications/unsubscribe-auth/AANG3OMZRF5JOW6MCZ266MTP5U6LPANCNFSM4HAZTPYA .

-- TOM SEPE SEPE PRODUCTIONS ART_DESIGN_FABRICATION +1 510 499 0946 <+1%20510%20499%200946> mobile thomas@tomsepe.com

http://tomsepe.com

JaehyunShim commented 5 years ago

@tomsepe

If you want to use the Dynamixel Workbench package, you should do as I said (use the same type of motors). There is another package, Dynamixel SDK, you can use to control your (even different types of) motors. I will attach the link below.

eManual source code

Regards, Ryan