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ROBOTIS-GIT / open_manipulator

OpenManipulator for controlling in Gazebo and Moveit with ROS
http://emanual.robotis.com/docs/en/platform/openmanipulator/
Apache License 2.0
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(Turtlebot & Open_manipulator) Error when launching open_manipulator_x_controller #180

Closed DoctorJgriff closed 3 years ago

DoctorJgriff commented 3 years ago

I'm working in ROS2 Dashing Diademata with the TurtleBot3 WafflePi, it has a RaspberryPi 3 with ubuntu-18.04.3-preinstalled-server-arm64+raspi3 installed. I'm also using an OpenCR board. My remote PC is using Linux Mint 19

These are the instructions I was following: https://emanual.robotis.com/docs/en/platform/openmanipulator_x/ros2_controller_package/#ros-controller-package

In section 13.1 of those instructions, I am told to run the command: ros2 launch open_manipulator_x_controller open_manipulator_x_controller.launch.py usb_port:=/dev/ttyACM0

The following is what is printed ubuntu@ubuntu:~/robotis_ws$ ros2 launch open_manipulator_x_controller open_manipulator_x_controller.launch.py usb_port:=/dev/ttyACM0 [INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2020-07-28-17-49-53-272212-ubuntu-8216 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [open_manipulator_x_controller-1]: process started with pid [8227] [ERROR] [open_manipulator_x_controller-1]: process has died [pid 8227, exit code -11, cmd '/home/ubuntu/robotis_ws/install/open_manipulator_x_controller/lib/open_manipulator_x_controller/open_manipulator_x_controller /dev/ttyACM0 1000000 __node:=open_manipulator_x_controller __params:=/home/ubuntu/robotis_ws/install/open_manipulator_x_controller/share/open_manipulator_x_controller/param/open_manipulator_x_controller_params.yaml'].

Upon running the actual command which failed: ubuntu@ubuntu:~/robotis_ws$ /home/ubuntu/robotis_ws/install/open_manipulator_x_controller/lib/open_manipulator_x_controller/open_manipulator_x_controller /dev/ttyACM0 1000000 __node:=open_manipulator_x_controller __params:=/home/ubuntu/robotis_ws/install/open_manipulator_x_controller/share/open_manipulator_x_controller/param/open_manipulator_x_controller_params.yaml

I receive the following error output: port_name and baud_rate are set to /dev/ttyACM0, 1000000 [ERROR] [TxRxResult] There is no status packet! [ERROR] Please check your Dynamixel ID [ERROR] [TxRxResult] There is no status packet! [ERROR] Please check your Dynamixel ID [ERROR] [TxRxResult] There is no status packet! [ERROR] Please check your Dynamixel ID [ERROR] [TxRxResult] There is no status packet! [ERROR] Please check your Dynamixel ID [ERROR] [DynamixelDriver] Failed to get the Tool [ERROR] [DynamixelDriver] Failed to get the Tool [ERROR] [DynamixelDriver] Failed to get the Tool [ERROR] [DynamixelDriver] Failed to get the Tool [ERROR] [DynamixelDriver] Failed to get the Tool [ERROR] [TxRxResult] There is no status packet! [ERROR] Please check your Dynamixel ID [ERROR] [DynamixelDriver] Failed to get the Tool [ERROR] [DynamixelDriver] Failed to get the Tool [ERROR] [DynamixelDriver] Failed to get the Tool [ERROR] [DynamixelDriver] Failed to get the Tool [ERROR] [DynamixelDriver] Failed to get the Tool [ERROR] [DynamixelDriver] Failed to get the Tool [ERROR] [DynamixelDriver] Failed to get the Tool [ERROR] [DynamixelDriver] Failed to get the Tool [ERROR] [DynamixelDriver] Failed to get the Tool [ERROR] [DynamixelWorkbench] Failed to change torque status! [ERROR] [DynamixelWorkbench] Failed to change torque status! [ERROR] [DynamixelWorkbench] Failed to change torque status! [ERROR] [DynamixelWorkbench] Failed to change torque status! [ERROR] [DynamixelWorkbench] Failed to change torque status! [ERROR] [TxRxResult] There is no status packet! [ERROR] groupSyncRead getdata failed [ERROR] groupSyncRead getdata failed [ERROR] groupSyncRead getdata failed Segmentation fault (core dumped)

ROBOTIS-Will commented 3 years ago

Hi,

The eManual you are referring is written for a separate OpenMANIPULATOR-X product. If you are using OpenMANIPULATOR-X on TurtleBot3 platform, please refer to the Manipulation section in ROS1. We are currently working on some missing packages in ROS2 Manipulation. Thank you.

ROBOTIS-Will commented 3 years ago

Closing this issue as there isn't any recent activity. Please feel free to reopen when necessary.

cardboardcode commented 2 years ago

Hi,

The eManual you are referring is written for a separate OpenMANIPULATOR-X product. If you are using OpenMANIPULATOR-X on TurtleBot3 platform, please refer to the Manipulation section in ROS1. We are currently working on some missing packages in ROS2 Manipulation. Thank you.

Hi @ROBOTIS-Will, thank you for providing this amazing package.

Enquiry: Has this been addressed yet in ROS2 Foxy?

Encountered the same issue in setting up open_manipulator as @DoctorJgriff .

Issue Description

Encountered the following error after setting up the necessary ROS2 packages and attempting to run the following command:

ros2 launch open_manipulator_x_controller open_manipulator_x_controller.launch.py usb_port:=/dev/ttyACM0

Steps to Reproduce Error

cd $HOME
mkdir -p colcon_ws/src
cd colcon_ws/src
# Install ROS2 Foxy packages following instructions given in the following link:
# https://emanual.robotis.com/docs/en/platform/openmanipulator_x/quick_start_guide/#install-ros-on-pc
cd ~/colcon_ws
colcon build --symlink-install
source install/setup.bash
ros2 launch open_manipulator_x_controller open_manipulator_x_controller.launch.py usb_port:=/dev/ttyACM0

The error below is reported:

~/colcon_ws$ ros2 launch open_manipulator_x_controller open_manipulator_x_controller.launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2022-03-14-14-49-26-428301-turtlebot3-2180
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [open_manipulator_x_controller-1]: process started with pid [2182]
[ERROR] [open_manipulator_x_controller-1]: process has died [pid 2182, exit code -11, cmd '/home/ubuntu/colcon_ws/install/open_manipulator_x_controller/lib/open_manipulator_x_controller/open_manipulator_x_controller /dev/ttyUSB0 1000000 --ros-args -r __node:=open_manipulator_x_controller --params-file /home/ubuntu/colcon_ws/install/open_manipulator_x_controller/share/open_manipulator_x_controller/param/open_manipulator_x_controller_params.yaml'].

Ran the same commands as @DoctorJgriff did:

/home/ubuntu/colcon_ws/install/open_manipulator_x_controller/lib/open_manipulator_x_controller/open_manipulator_x_controller /dev/ttyACM0 1000000

The error below is reported:

[ERROR] [TxRxResult] There is no status packet!
[ERROR] Please check your Dynamixel ID
[ERROR] [TxRxResult] There is no status packet!
[ERROR] Please check your Dynamixel ID
[ERROR] [TxRxResult] There is no status packet!
[ERROR] Please check your Dynamixel ID
[ERROR] [TxRxResult] There is no status packet!
[ERROR] Please check your Dynamixel ID
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [TxRxResult] There is no status packet!
[ERROR] Please check your Dynamixel ID
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelWorkbench] Failed to change torque status!
[ERROR] [DynamixelWorkbench] Failed to change torque status!
[ERROR] [DynamixelWorkbench] Failed to change torque status!
[ERROR] [DynamixelWorkbench] Failed to change torque status!
[ERROR] [DynamixelWorkbench] Failed to change torque status!
[ERROR] [TxRxResult] There is no status packet!
[ERROR] groupSyncRead getdata failed
[ERROR] groupSyncRead getdata failed
[ERROR] groupSyncRead getdata failed
Segmentation fault (core dumped)

Yet to verify if running ROS1 will allow a workaround for this ROS2 issue. Will update here once I have done so.

ROBOTIS-Will commented 2 years ago

hi @cardboardcode In case of running the OpenMANIPULATOR-X with your PC, make sure that you have correctly selected the USB-serial interface. Depending on the interface, you will need to use different command as below.