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ROBOTIS-GIT / turtlebot3

ROS packages for Turtlebot3
http://turtlebot3.robotis.com
Apache License 2.0
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Cannot read sensor state information since the new update #221

Closed masacha closed 6 years ago

masacha commented 6 years ago

ISSUE TEMPLATE ver. 0.0.1

  1. Which TurtleBot3 you have?
  1. Which SBC(Single Board Computer) is working on TurtleBot3?
  1. Which OS you installed in SBC?
  1. Which OS you installed in RemotePC?

  1. Write down software version and firmware version

    • Software version : [1.0.0]
    • Firmware version : [1.2.0]

  2. Write down the commands you used in order

    [RemotePC] roscore [SBC] roslaunch turtlebot3_bringup turtlebot3_core.launch [RemotePC] roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch [RemotePC] rqt

  3. Copy and Paste your error message on terminal

No error on terminal.

  1. Please, describe detailedly what difficulty you are in

Since a few days, I can't tele-operate Turtlebot3 burger. No error appears on the terminal, the motors simply don't move. When I open rqt, the sensor_state topic displays unknown bandwidth and unknown frequency.

When I use a custom code for OpenCR (similar to the Turtlebot3 Segway one) with pwm control, I can control the motors but the sensor_state remains unknown. Therefore I cannot access encoder values.

The same problem happens on two Turtlebots.

I tried to do Dynamixel motor setup with one motor connected (and powed on), but this error is displayed: Find Motor... setbaud : 57600

[TxRxResult] There is no status packet! setbaud : 1000000

[TxRxResult] There is no status packet!

What do you recommend I do? Should I downgrade to a previous software and firmware version?

routiful commented 6 years ago

Hi :)

I assumed Dynamixel has broken since unknown error. You can try firmware recovery by using RoboPlus Manager 2.0

After uploading firmware to Dynamixel, attempt to motor setup and launch teleop.

Thanks

masacha commented 6 years ago

Hi! :) Thanks for the reply. Ok, I will attempt to make a firmware recovery of Dynamixel. To use RoboPlus Manager, I need to connect Dynamixel to PC with a connector (for instance U2D2), is that right?

routiful commented 6 years ago

That's right, Or else you can use OpenCR which is uploaded usb_to_dxl as U2D2.

masacha commented 6 years ago

Thanks for your help, I use several Turtlebot3 for academic purposes in my university laboratory and I really appreciate your reactivity.

I have tried the same motors with another OpenCR board and strangely, everything works well. So maybe the Dynamixel is not broken.

I now have two OpenCR boards that can read the sensor_state from the motors and two OpenCR boards that cannot (with the same two motors). Is it a problem from the OpenCR or is it still a problem from the Dynamixel?

routiful commented 6 years ago

Hi :)

It looks like problem from the OpenCR. Then, please try re-update bootloader to OpenCR and upload turtlebot_core (v.1.2.0). After that, if the problem is not solved, please contact ROBOTIS customer support team (contactus2@robotis.com)

Thanks

masacha commented 6 years ago

Thank you for your reply! I re-burned the bootloader and updated the latest turtlebot3_core on OpenCR but still, the sensor_state topic is not published correctly (unknown bandwith and unknown frequency). It looks a lot like this issue: https://github.com/ROBOTIS-GIT/turtlebot3/issues/162 but I don't know if it is the same case.
Should I send the two OpenCR boards with this issue for repair?

routiful commented 6 years ago

Yes, it might be hardware fault from OpenCR. Please contact ROBOTIS customer support team. Then they are going to inform you where to send yours.

Sorry for inconveniences

Thanks

masacha commented 6 years ago

I will do that, thank you very much!

routiful commented 6 years ago

Great. If you will face similar problem when you replace OpenCR, you would re-open this issue.

Thanks :)