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ROBOTIS-GIT / open_manipulator_p

OpenManipulator-P for controlling in Gazebo and Moveit with ROS
Apache License 2.0
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The controller node stops #68

Open SeungRyeol opened 3 years ago

SeungRyeol commented 3 years ago

My PC environment is Ubuntu 18.04.

roslaunch open_manipulator_p_teleop open_manipulator_p_teleop_keyboard.launch roslaunch open_manipulator_p_teleop open_manipulator_p_teleop_joystick.launch

When operating the robot using the above two nodes, the robot moves short and stops.

And the open_manipulator_p_controller node stops. It does not print any commands for stop.

PARAMETERS
 * /open_manipulator_p_controller/control_period: 0.01
 * /open_manipulator_p_controller/using_platform: True
 * /open_manipulator_p_controller/with_gripper: False
 * /rosdistro: melodic
 * /rosversion: 1.14.11

NODES
  /
    open_manipulator_p_controller (open_manipulator_p_controller/open_manipulator_p_controller)

ROS_MASTER_URI=http://192.168.0.16:11311

process[open_manipulator_p_controller-1]: started with pid [11208]
port_name and baud_rate are set to /dev/ttyUSB0, 1000000 
Joint Dynamixel ID : 1, Model Name : PRO-PLUS-H54P-200-S500-R
[ERROR] [RxPacketError] Writing or Reading is not available to target address!
[ERROR] Please check your Dynamixel firmware version
Joint Dynamixel ID : 2, Model Name : PRO-PLUS-H54P-200-S500-R
[ERROR] [RxPacketError] Writing or Reading is not available to target address!
[ERROR] Please check your Dynamixel firmware version
Joint Dynamixel ID : 3, Model Name : PRO-PLUS-H54P-100-S500-R
[ERROR] [RxPacketError] Writing or Reading is not available to target address!
[ERROR] Please check your Dynamixel firmware version
Joint Dynamixel ID : 4, Model Name : PRO-PLUS-H54P-100-S500-R
[ERROR] [RxPacketError] Writing or Reading is not available to target address!
[ERROR] Please check your Dynamixel firmware version
Joint Dynamixel ID : 5, Model Name : PRO-PLUS-H42P-020-S300-R
[ERROR] [RxPacketError] Writing or Reading is not available to target address!
[ERROR] Please check your Dynamixel firmware version
Joint Dynamixel ID : 6, Model Name : PRO-PLUS-H42P-020-S300-R
[ERROR] [RxPacketError] Writing or Reading is not available to target address!
[ERROR] Please check your Dynamixel firmware version
[INFO] Succeeded to init /open_manipulator_p_controller

When the controller node is re-executed, the above error appears, and when the node is turned off and on again, it connects normally.

I have to use the teleop node, and how can I solve this problem? Is it because of the speed limit? Or should I modify the /open_manipulator_p_controller/control_period parameter?

ROBOTIS-Will commented 2 years ago

Hi @SeungRyeol I'm sorry about the delayed response. I'll review this issue and get back to you as soon as possible. Thanks for your patience.