search

doosan-robotics / doosan-robot2

ROS 2 for Doosan Robot
BSD 3-Clause "New" or "Revised" License
81 stars 56 forks source link

Failed to initialize hardware #69

Open codeundercoverdev opened 4 months ago

codeundercoverdev commented 4 months ago

I am unable to get RViz to work with the humble distributioin on UBuntu 22.04.

I just installed and ran ros2 launch dsr_bringup2 dsr_bringup2_rviz.launch.py mode:=virtual host:=127.0.0.1 port:=12345 model:=m1013 exactly as stated in the readme. Regardless of the model I decide to use, I always get this message (but with a different model depending on what I use). I've tried removing all the arguments as well, but no matter what I do I get this message:

[INFO] [launch]: All log files can be found below /home/phil/.ros/log/2024-07-02-15-36-51-775414-phil-vm-9836
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [connection-1]: process started with pid [9839]
[INFO] [ros2_control_node-2]: process started with pid [9841]
[INFO] [robot_state_publisher-3]: process started with pid [9843]
[INFO] [spawner-4]: process started with pid [9845]
[INFO] [spawner-5]: process started with pid [9847]
[connection-1] [INFO] [1719959812.792919326] [dsr01.connection_node]: @@@@@@@@@@@@@@@@@@@@@@@@@@@ run_drcf
[connection-1] sh: 1: /home/phil/ros2_ws/install/common2/share/common2/bin/run_drcf.sh: Permission denied
[robot_state_publisher-3] [INFO] [1719959812.957447075] [dsr01.robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1719959812.958376456] [dsr01.robot_state_publisher]: got segment link_1
[robot_state_publisher-3] [INFO] [1719959812.958950496] [dsr01.robot_state_publisher]: got segment link_2
[robot_state_publisher-3] [INFO] [1719959812.959295367] [dsr01.robot_state_publisher]: got segment link_3
[robot_state_publisher-3] [INFO] [1719959812.959552543] [dsr01.robot_state_publisher]: got segment link_4
[robot_state_publisher-3] [INFO] [1719959812.959733646] [dsr01.robot_state_publisher]: got segment link_5
[robot_state_publisher-3] [INFO] [1719959812.960064851] [dsr01.robot_state_publisher]: got segment link_6
[robot_state_publisher-3] [INFO] [1719959812.960309546] [dsr01.robot_state_publisher]: got segment world
[ros2_control_node-2] [WARN] [1719959813.073262810] [dsr01.controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ros2_control_node-2] [INFO] [1719959813.074083484] [resource_manager]: Loading hardware 'm1013' 
[ros2_control_node-2] [INFO] [1719959813.173292150] [resource_manager]: Initialize hardware 'm1013' 
[spawner-4] [INFO] [1719959815.511390054] [dsr01.spawner_dsr_controller2]: Waiting for '/dsr01/controller_manager' services to be available
[spawner-5] [INFO] [1719959815.538801545] [dsr01.spawner_joint_state_broadcaster]: Waiting for '/dsr01/controller_manager' services to be available
[spawner-4] [INFO] [1719959817.582501335] [dsr01.spawner_dsr_controller2]: Waiting for '/dsr01/controller_manager' services to be available
[spawner-5] [INFO] [1719959817.591444426] [dsr01.spawner_joint_state_broadcaster]: Waiting for '/dsr01/controller_manager' services to be available
[spawner-4] [INFO] [1719959819.630133907] [dsr01.spawner_dsr_controller2]: Waiting for '/dsr01/controller_manager' services to be available
[spawner-5] [INFO] [1719959819.639873122] [dsr01.spawner_joint_state_broadcaster]: Waiting for '/dsr01/controller_manager' services to be available
[ros2_control_node-2] [INFO] [1719959821.201391745] [dsr01.dsr_hw_interface2]: name: dsr01
[ros2_control_node-2] [INFO] [1719959821.202044405] [dsr01.dsr_hw_interface2]: rate: 100
[ros2_control_node-2] [INFO] [1719959821.202416888] [dsr01.dsr_hw_interface2]: standby: 5000
[ros2_control_node-2] [INFO] [1719959821.202668636] [dsr01.dsr_hw_interface2]: command: true
[ros2_control_node-2] [INFO] [1719959821.202905667] [dsr01.dsr_hw_interface2]: host: 127.0.0.1
[ros2_control_node-2] [INFO] [1719959821.203123202] [dsr01.dsr_hw_interface2]: port: 12345
[ros2_control_node-2] [INFO] [1719959821.203357101] [dsr01.dsr_hw_interface2]: mode: virtual
[ros2_control_node-2] [INFO] [1719959821.203623837] [dsr01.dsr_hw_interface2]: model: m1013
[ros2_control_node-2] [INFO] [1719959821.203842957] [dsr01.dsr_hw_interface2]: gripper: none
[ros2_control_node-2] [INFO] [1719959821.204061667] [dsr01.dsr_hw_interface2]: mobile: none
[ros2_control_node-2] [INFO] [1719959821.204513202] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-2] 
[ros2_control_node-2] [INFO] [1719959821.204631100] [dsr_hw_interface2]:     INITAILIZE
[ros2_control_node-2] [INFO] [1719959821.204634565] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-2] 
[ros2_control_node-2] Connection refused
[ros2_control_node-2] [ERROR] [1719959821.227011599] [dsr_hw_interface2]:     DSRInterface::init() DRCF connecting ERROR!!!
[ros2_control_node-2] [INFO] [1719959821.227053517] [resource_manager]: Failed to initialize hardware 'm1013'
[ros2_control_node-2] [WARN] [1719959821.227058762] [resource_manager]: System hardware component 'm1013' from plugin 'dsr_hardware2/DRHWInterface' failed to initialize.
[ros2_control_node-2] terminate called after throwing an instance of 'std::runtime_error'
[ros2_control_node-2]   what():  Wrong state or command interface configuration.
[ros2_control_node-2] missing state interfaces:
[ros2_control_node-2] ' joint_1/position '  ' joint_1/velocity '    ' joint_2/position '    ' joint_2/velocity '    ' joint_3/position '    ' joint_3/velocity '    ' joint_4/position '    ' joint_4/velocity '    ' joint_5/position '    ' joint_5/velocity '    ' joint_6/position '    ' joint_6/velocity '    
[ros2_control_node-2] missing command interfaces:
[ros2_control_node-2] ' joint_1/position '  ' joint_1/velocity '    ' joint_2/position '    ' joint_2/velocity '    ' joint_3/position '    ' joint_3/velocity '    ' joint_4/position '    ' joint_4/velocity '    ' joint_5/position '    ' joint_5/velocity '    ' joint_6/position '    ' joint_6/velocity '    
[ros2_control_node-2] Stack trace (most recent call last):
[ros2_control_node-2] #15   Object "", at 0xffffffffffffffff, in 
[ros2_control_node-2] #14   Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x5ec117d0ed84, in 
[ros2_control_node-2] #13   Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x712303029e3f]
[ros2_control_node-2] #12   Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x712303029d8f]
[ros2_control_node-2] #11   Object "/opt/ros/humble/lib/controller_manager/ros2_control_node", at 0x5ec117d0e89e, in 
[ros2_control_node-2] #10   Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x712303a0ee79, in controller_manager::ControllerManager::ControllerManager(std::shared_ptr<rclcpp::Executor>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::NodeOptions const&)
[ros2_control_node-2] #9    Object "/opt/ros/humble/lib/libcontroller_manager.so", at 0x712303a0a6bf, in controller_manager::ControllerManager::init_resource_manager(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
[ros2_control_node-2] #8    Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x712303672f1c, in hardware_interface::ResourceManager::load_urdf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, bool)
[ros2_control_node-2] #7    Object "/opt/ros/humble/lib/libhardware_interface.so", at 0x71230364f5dd, in 
[ros2_control_node-2] #6    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7123034ae4d7, in __cxa_throw
[ros2_control_node-2] #5    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7123034ae276, in std::terminate()
[ros2_control_node-2] #4    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7123034ae20b, in 
[ros2_control_node-2] #3    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7123034a2b9d, in 
[ros2_control_node-2] #2    Source "./stdlib/abort.c", line 79, in abort [0x7123030287f2]
[ros2_control_node-2] #1    Source "../sysdeps/posix/raise.c", line 26, in raise [0x712303042475]
[ros2_control_node-2] #0  | Source "./nptl/pthread_kill.c", line 89, in __pthread_kill_internal
[ros2_control_node-2]     | Source "./nptl/pthread_kill.c", line 78, in __pthread_kill_implementation
[ros2_control_node-2]       Source "./nptl/pthread_kill.c", line 44, in __pthread_kill [0x7123030969fc]
[ros2_control_node-2] Aborted (Signal sent by tkill() 9841 1000)
[spawner-4] [INFO] [1719959821.672224616] [dsr01.spawner_dsr_controller2]: Waiting for '/dsr01/controller_manager' services to be available
[spawner-5] [INFO] [1719959821.681314458] [dsr01.spawner_joint_state_broadcaster]: Waiting for '/dsr01/controller_manager' services to be available
[ERROR] [ros2_control_node-2]: process has died [pid 9841, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args -r __ns:=/dsr01 --params-file /tmp/launch_params_y1tlfzct --params-file /home/phil/ros2_ws/install/dsr_controller2/share/dsr_controller2/config/dsr_controller2.yaml'].
[spawner-4] [ERROR] [1719959823.532081615] [dsr01.spawner_dsr_controller2]: Controller manager not available
[spawner-5] [ERROR] [1719959823.535981386] [dsr01.spawner_joint_state_broadcaster]: Controller manager not available
[ERROR] [spawner-4]: process has died [pid 9845, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner dsr_controller2 -c controller_manager --ros-args -r __ns:=/dsr01'].
[ERROR] [spawner-5]: process has died [pid 9847, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster -c controller_manager --ros-args -r __ns:=/dsr01'].
[INFO] [rviz2-6]: process started with pid [9904]
[rviz2-6] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[rviz2-6] [INFO] [1719959824.413971919] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-6] [INFO] [1719959824.414079005] [rviz2]: OpenGl version: 4.1 (GLSL 4.1)
[rviz2-6] [INFO] [1719959824.495950514] [rviz2]: Stereo is NOT SUPPORTED
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[rviz2-6] [INFO] [1719960112.604637378] [rclcpp]: signal_handler(signum=2)
[robot_state_publisher-3] [INFO] [1719960112.607158680] [rclcpp]: signal_handler(signum=2)
[connection-1] Traceback (most recent call last):
[connection-1]   File "/home/phil/ros2_ws/install/dsr_bringup2/lib/dsr_bringup2/connection", line 33, in <module>
[connection-1]     sys.exit(load_entry_point('dsr-bringup2==0.1.2', 'console_scripts', 'connection')())
[connection-1]   File "/home/phil/ros2_ws/install/dsr_bringup2/lib/python3.10/site-packages/dsr_bringup2/connection.py", line 81, in main
[connection-1]     rclpy.spin(node)
[connection-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin
[connection-1]     executor.spin_once()
[connection-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once
[connection-1]     self._spin_once_impl(timeout_sec)
[connection-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl
[connection-1]     handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec)
[connection-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks
[connection-1]     return next(self._cb_iter)
[connection-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks
[connection-1]     wait_set.wait(timeout_nsec)
[connection-1] KeyboardInterrupt
[connection-1] sh: 1: docker: not found
[connection-1] Exception ignored in: <function VirtualDRCF.__del__ at 0x7a69c9075900>
[connection-1] Traceback (most recent call last):
[connection-1]   File "/home/phil/ros2_ws/install/dsr_bringup2/lib/python3.10/site-packages/dsr_bringup2/connection.py", line 19, in __del__
[connection-1]     self.terminate_drcf()
[connection-1]   File "/home/phil/ros2_ws/install/dsr_bringup2/lib/python3.10/site-packages/dsr_bringup2/connection.py", line 33, in terminate_drcf
[connection-1]     rclpy.shutdown()
[connection-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 126, in shutdown
[connection-1]     _shutdown(context=context)
[connection-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/utilities.py", line 58, in shutdown
[connection-1]     return context.shutdown()
[connection-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/context.py", line 102, in shutdown
[connection-1]     self.__context.shutdown()
[connection-1] rclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:241
[connection-1] stop_cmd :  docker ps -a --filter name=dsr01_emulator -q | xargs -r docker stop
[ERROR] [connection-1]: process has died [pid 9839, exit code -2, cmd '/home/phil/ros2_ws/install/dsr_bringup2/lib/dsr_bringup2/connection --ros-args -r __ns:=/dsr01 --params-file /tmp/launch_params_9e90jxd_ --params-file /tmp/launch_params_5rsgehio --params-file /tmp/launch_params_or254zj2 --params-file /tmp/launch_params_yuhb5cba --params-file /tmp/launch_params_uxx0d6xl --params-file /tmp/launch_params_59g80hgv --params-file /tmp/launch_params_rr061uvk --params-file /tmp/launch_params_ojzgmou1 --params-file /tmp/launch_params_w_t1sflu --params-file /tmp/launch_params_axrq3gqv'].
[INFO] [robot_state_publisher-3]: process has finished cleanly [pid 9843]
[INFO] [rviz2-6]: process has finished cleanly [pid 9904]

The Robot Model in the RVIZ GUI seems to reiterate what the console says:

image

How can I fix this?

gauthammsam57 commented 4 months ago

You might not have installed the emulator. You can install the emulator by running the install_emulator.sh from the repo.

It also need to have docker as a prerequisite.

marknabil commented 1 month ago

I have the same issue, I already run install_emulator.sh before the ros2 launch