axkoenig
commented
3 years ago Hi all,
I am running Ubuntu 20.04 and ROS Noetic. I also setup the connection as described in the Quickstart guide and the ReFlex TakkTile is correctly recognized under the Ubuntu networking settings. However, I am having problems when launching the driver and the hand won't connect. @KiyanoushNazari, your problem sounded similar. Did you find a solution?
Here is the log after running roslaunch reflex reflex_takktile.launch.
SUMMARY
========
PARAMETERS
* /default_contact_threshold: 20
* /encoder_zero_reference: [2.21521, 6.11559...
* /motor_to_joint_gear_ratio: [1.42, 1.42, 1.42...
* /motor_to_joint_inverted: [1, -1, 1, -1]
* /motor_zero_reference: [59.6108, 56.3347...
* /reflex_takktile_f1/default_motor_speed: 3.0
* /reflex_takktile_f1/max_motor_speed: 3.5
* /reflex_takktile_f1/max_motor_travel: 3.6
* /reflex_takktile_f1/overload_threshold: 350.0
* /reflex_takktile_f2/default_motor_speed: 3.0
* /reflex_takktile_f2/max_motor_speed: 3.5
* /reflex_takktile_f2/max_motor_travel: 3.6
* /reflex_takktile_f2/overload_threshold: 350.0
* /reflex_takktile_f3/default_motor_speed: 3.0
* /reflex_takktile_f3/max_motor_speed: 3.5
* /reflex_takktile_f3/max_motor_travel: 3.6
* /reflex_takktile_f3/overload_threshold: 350.0
* /reflex_takktile_preshape/default_motor_speed: 2.0
* /reflex_takktile_preshape/max_motor_speed: 3.5
* /reflex_takktile_preshape/max_motor_travel: 1.75
* /reflex_takktile_preshape/overload_threshold: 400.0
* /rosdistro: noetic
* /rosversion: 1.15.9
* /tactile_offset_f1: [133, 121, 125, 1...
* /tactile_offset_f2: [127, 129, 136, 1...
* /tactile_offset_f3: [137, 111, 156, 1...
* /tf_geometry/base_link/origin: [0.0, 0.0, 0.0]
* /tf_geometry/base_link/rotation: [0.0, 0.0, 0.0]
* /tf_geometry/distal/origin: [0.068, 0.0, 0.0025]
* /tf_geometry/distal_sensors/origin_x: [0.0114, 0.01931,...
* /tf_geometry/distal_sensors/origin_z: [0.0129, 0.0129, ...
* /tf_geometry/distal_sensors/rotation: [0.0, 0.0, 0.0, 0...
* /tf_geometry/proximal_1/origin: [0.01, 0.0, 0.0186]
* /tf_geometry/proximal_1/rotation: [0.0, 0.0, 0.0]
* /tf_geometry/proximal_2/origin: [0.01, 0.0, 0.0186]
* /tf_geometry/proximal_2/rotation: [0.0, 0.0, 0.0]
* /tf_geometry/proximal_3/origin: [-0.03, 0.0, 0.0817]
* /tf_geometry/proximal_3/rotation: [0.0, 0.0, 3.14159]
* /tf_geometry/proximal_sensors/origin_x: [0.0189, 0.02681,...
* /tf_geometry/proximal_sensors/origin_z: [0.0154, 0.0154, ...
* /tf_geometry/swivel_1/origin: [0.0504, 0.026, 0...
* /tf_geometry/swivel_2/origin: [0.0504, -0.026, ...
* /yaml_dir: /home/username/r...
NODES
/
driver_node_0 (reflex_driver/reflex_driver_node)
recorder (rosbag/record)
reflex_takktile_hand (reflex/reflex_takktile_hand.py)
auto-starting new master
process[master]: started with pid [4143]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to d566f560-5ab2-11eb-8a7c-174bd5be787a
process[rosout-1]: started with pid [4153]
started core service [/rosout]
process[recorder-2]: started with pid [4160]
process[driver_node_0-3]: started with pid [4161]
process[reflex_takktile_hand-4]: started with pid [4162]
[ INFO] [1611100970.182434379]: Succesfully loaded all parameters
[ INFO] [1611100970.183667581]: Publishing the /hand_state topic
[ INFO] [1611100970.184343371]: Starting reflex_hand_driver on network interface eth0
[ INFO] [1611100970.184402491]: ReflexHand constructor
[ INFO] [1611100970.184526357]: found address 127.0.0.1 on interface lo
[ INFO] [1611100970.184559414]: found address 10.1.1.10 on interface eth0
[ INFO] [1611100970.184586752]: using 10.1.1.10 as the tx interface for IPv4 UDP multicast
[ INFO] [1611100970.184654113]: constructor complete
[ INFO] [1611100970.189166426]: Advertising the /disable_torque service
[ INFO] [1611100970.189842498]: Advertising the /calibrate_fingers service
[ INFO] [1611100970.190250380]: Advertising the /calibrate_tactile service
[ INFO] [1611100970.190648560]: Advertising the /zero_pose service
[ INFO] [1611100970.191047659]: Advertising the /set_tactile_threshold service
[ INFO] [1611100970.191089917]: Entering main reflex_driver loop...
[INFO] [1611100972.498571]: Starting up the hand
[INFO] [1611100972.514760]: ReFlex hand has started, waiting for commands...
[FATAL] [1611100978.022146]: Hand going down, no ethernet data for 5 seconds
================================================================================REQUIRED process [reflex_takktile_hand-4] has died!
process has finished cleanly
log file: /home/username/.ros/log/d566f560-5ab2-11eb-8a7c-174bd5be787a/reflex_takktile_hand-4*.log
Initiating shutdown!
================================================================================
[reflex_takktile_hand-4] killing on exit
[driver_node_0-3] killing on exit
[recorder-2] killing on exit
[ INFO] [1611100978.836870038]: Have a nice day
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
zixiliu
Hi everyone, I am using a reflex takktile2 hand, it was purchased about a year ago but no one has used it before. I successfully installed the ros package but when I connect the hand to the PC there is no connection and the system does not recognize the hand. I have tried various PCs with various ubuntu and ros versions but the one I am using now is my laptop with Ubuntu 18.04 with ros melodic. I set the static ip address as the quick start page says. I have also flashed the firmware successfully and the microcontroller board itself is recognized by the system when it's connected to the laptop by its micro usb port. But again when I connect the hand with Ethernet there is no connection. I have tried my ethernet with internet router and its working perfectly fine. So I came to the conclusion that the problem is coming from the ethernet port of the board but I have no idea how to fix this. I would really appreciate it if anyone could suggest something. Thanks