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ezWheelSAS / swd_ros_controllers

ROS nodes to control motors powered by the ez-Wheel Safety Wheel Drive (SWD®) technology.
https://www.ez-wheel.com/
GNU Lesser General Public License v2.1
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The power of the right motor is transmitted to the left motor. #7

Closed fig-shimooka closed 2 years ago

fig-shimooka commented 2 years ago

I would like to run the SWD kit with x86-64 CPU Board. For some reason, when I send any value to angular.z in cmd_vel, it only goes straight ahead and backward (no error is generated). I cannot make a turn. It seems that the indicated value of the right motor is being transmitted to the left motor.

Also, when I use swd_left_4_commissioning.py, I get an error (same for Right). The ezw-swd-left is running.

$ python3 swd_left_4_commissioning.py Traceback (most recent call last): File "/usr/lib/python3/dist-packages/dbus/bus.py", line 177, in activate_name_owner return self.get_name_owner(bus_name) File "/usr/lib/python3/dist-packages/dbus/bus.py", line 361, in get_name_owner return self.call_blocking(BUS_DAEMON_NAME, BUS_DAEMON_PATH, File "/usr/lib/python3/dist-packages/dbus/connection.py", line 652, in call_blocking reply_message = self.send_message_with_reply_and_block( dbus.exceptions.DBusException: org.freedesktop.DBus.Error.NameHasNoOwner: Could not get owner of name 'commonapi.SmcService.NMT.v1_0_commonapi.ezw.smcservice.swd_left': no such name

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "swd_left_4_commissioning.py", line 178, in main(sys.argv[1:]) File "swd_left_4_commissioning.py", line 100, in main commissioning.create_dbus_clients(instance_id) File "/opt/ezw/commissioning/commissioning.py", line 196, in create_dbus_clients nmt_client = NMTDBusClient(instance_id) File "/opt/ezw/usr/lib/smcdbusclient/nmt.py", line 49, in init self.dbus_object = self.bus.get_object( File "/usr/lib/python3/dist-packages/dbus/bus.py", line 241, in get_object return self.ProxyObjectClass(self, bus_name, object_path, File "/usr/lib/python3/dist-packages/dbus/proxies.py", line 250, in init self._named_service = conn.activate_name_owner(bus_name) File "/usr/lib/python3/dist-packages/dbus/bus.py", line 182, in activate_name_owner self.start_service_by_name(bus_name) File "/usr/lib/python3/dist-packages/dbus/bus.py", line 277, in start_service_by_name return (True, self.call_blocking(BUS_DAEMON_NAME, BUS_DAEMON_PATH, File "/usr/lib/python3/dist-packages/dbus/connection.py", line 652, in call_blocking reply_message = self.send_message_with_reply_and_block( dbus.exceptions.DBusException: org.freedesktop.DBus.Error.ServiceUnknown: The name commonapi.SmcService.NMT.v1_0_commonapi.ezw.smcservice.swd_left was not provided by any .service files

GMezWheel commented 2 years ago

For the commissioning, does the service of ezw-canopen is started ?

At minimal, the following systemctl service have to be started for commissioning:

> systemctl -a | grep ezw
ezw-dbus-user-session (optional if a dbus session already exists. eg graphical dbus session)
ezw-stack
ezw-canopen
ezw-swd-left
ezw-swd-right
fig-shimooka commented 2 years ago

Yes, those services have been activated.

ezw-canopen.service loaded active running EZW CANOPEN SERVICE
ezw-dbus-user-session.service loaded active running EZW DBUS USER SESSION SERVICE
ezw-stack.service loaded active running EZW APP STARTUP - PARENT SERVICE
ezw-swd-left.service loaded active running EZW SWD LEFT SERVICE
ezw-swd-right.service loaded active running EZW SWD RIGHT SERVICE

GMezWheel commented 2 years ago

Have you export the dbus session information created by ezw-dbus-user-session service before start swd_ros_controller ?

export $(cat /opt/ezw/data/tmp/SYSTEMCTL_dbus.id)

fig-shimooka commented 2 years ago

SYSTEMCTL_dbus.id file has not been created. I created it because there was no tmp folder. I then rebooted, but it is not created.

fig-shimooka commented 2 years ago

Some files are taken from the arm version because "apt get installswd-starter-kit" failed to run on x86-64.

GMezWheel commented 2 years ago

Can you check EZTMP variable into /opt/ezw/lib/function.res ?

I think that the session dbus is into /tmp and not into /opt/ezw/data/tmp.

Thus, the correct command is : export $(cat /tmp/SYSTEMCTL_dbus.id)

fig-shimooka commented 2 years ago

EZTMP was allocated /tmp. The cat /opt/ezw/sbin/sce-ros-bringup.sh file was exported correctly.

#!/bin/bash

export $(cat /tmp/SYSTEMCTL_dbus.id)

# Add this line to your local ~/.swd_ros_env to be able to
# access ROS topics from external machine on WiFi
# export ROS_IP=10.10.0.1
SWD_ROS_ENV="$HOME/.swd_ros_env"
SWD_USER_WS_DIR="$HOME/ros1_swd/"
SWD_BRINGUP_PKG="swd_starter_kit_bringup"
SWD_BRINGUP_LAUNCH_FILE="starter_kit.launch"

# Load custom environnement settings if any
if [[ -f $SWD_ROS_ENV ]]; then
    echo "Found custom environnement config at $SWD_ROS_ENV"
    source $SWD_ROS_ENV
fi

source /opt/ros/noetic/setup.bash

# Load the custom workspace if specified
CUSTOM_SETUP="$SWD_USER_WS_DIR/devel/setup.bash"

if [[ -f $CUSTOM_SETUP ]]; then
    source $CUSTOM_SETUP
fi
export ROS_MASTER_URI=http://10.0.0.2:11311
export ROS_HOSTNAME=10.0.0.2
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ezw/usr/lib

roslaunch $SWD_BRINGUP_PKG $SWD_BRINGUP_LAUNCH_FILE
GMezWheel commented 2 years ago

Logs files are into /tmp/sce-*.log

Is everything OK into canopen, swd-left and swd-right log files ?

eg:

`$ cat /tmp/sce-swd-right.log
##########################
Starting Release Version : 0.1.2_swd_sk
2022-03-14 04:21:27
##########################
loading ini variables ...                                                        OK 
Run on ROBOT With Role Master  : Starting 

FOUND /tmp/SYSTEMCTL_dbus.id
Exporting following variables :
DBUS_SESSION_BUS_ADDRESS=unix:abstract=/tmp/dbus-riZKNCFCau,guid=11e440353d8bd549678cfa5e622efaf8
DBUS_SESSION_BUS_PID=691
fig-shimooka commented 2 years ago

The path for SYSTEMCTL_dbus.id in the commissioning.py file was incorrect. After correcting this, swd_left_4_commissioning.py could be executed. However, the AMR can still only go straight ahead.


SYSTEMCTL_dbus.id detected
create_dbus_clients(swd_left) : OK
SRDOParameters(valid=False, sct=50, srvt=20, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=287, can_id2=288)
SRDOParameters(valid=False, sct=25, srvt=20, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=259, can_id2=260)
SRDOParameters(valid=True, sct=255, srvt=100, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=265, can_id2=266)
SRDOParameters(valid=False, sct=25, srvt=20, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=263, can_id2=264)
SRDOParameters(valid=False, sct=50, srvt=20, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=265, can_id2=266)
SRDOParameters(valid=False, sct=50, srvt=20, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=267, can_id2=268)
SRDOParameters(valid=False, sct=50, srvt=20, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=269, can_id2=270)
SRDOParameters(valid=False, sct=50, srvt=20, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=271, can_id2=272)
SRDOParameters(valid=False, sct=50, srvt=20, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=273, can_id2=274)
SRDOParameters(valid=True, sct=50, srvt=20, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=352, can_id2=353)
fig@x86:/opt/ezw/commissioning$ python3 swd_right_5_commissioning.py
SYSTEMCTL_dbus.id detected
create_dbus_clients(swd_right) : OK
SRDOParameters(valid=False, sct=50, srvt=20, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=287, can_id2=288)
SRDOParameters(valid=False, sct=25, srvt=20, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=259, can_id2=260)
SRDOParameters(valid=True, sct=255, srvt=100, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=352, can_id2=353)
SRDOParameters(valid=False, sct=25, srvt=20, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=263, can_id2=264)
SRDOParameters(valid=False, sct=50, srvt=20, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=265, can_id2=266)
SRDOParameters(valid=False, sct=50, srvt=20, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=267, can_id2=268)
SRDOParameters(valid=False, sct=50, srvt=20, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=269, can_id2=270)
SRDOParameters(valid=False, sct=50, srvt=20, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=271, can_id2=272)
SRDOParameters(valid=False, sct=50, srvt=20, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=273, can_id2=274)
SRDOParameters(valid=True, sct=50, srvt=20, transmission_type=<SRDOTransmissionType.PDO_ASYNC_FE: 254>, can_id1=265, can_id2=266)
GMezWheel commented 2 years ago

OK. Nice !

Can you check that the both motors have a CANopen nodeid different ?

$ candump can0 | grep 70
  can0  705   [1]  7F
  can0  704   [1]  7F
  can0  705   [1]  7F
  can0  704   [1]  7F
...
fig-shimooka commented 2 years ago

Thank you! This is the result.


fig@x86:/opt/ezw/commissioning$ candump can0 |grep 70
  can0  701   [1]  05
  can0  705   [1]  05
  can0  704   [1]  05
  can0  701   [1]  05
  can0  705   [1]  05
  can0  704   [1]  05
  can0  701   [1]  05
  can0  705   [1]  05
  can0  704   [1]  05
  can0  701   [1]  05
  can0  705   [1]  05
  can0  704   [1]  05
  can0  701   [1]  05
  can0  705   [1]  05
  can0  704   [1]  05
  can0  701   [1]  05
  can0  705   [1]  05
  can0  704   [1]  05
  can0  701   [1]  05
  can0  705   [1]  05
  can0  704   [1]  05
  can0  701   [1]  05
  can0  705   [1]  05
  can0  701   [1]  05
  can0  704   [1]  05
  can0  701   [1]  05
  can0  705   [1]  05
  can0  704   [1]  05
  can0  701   [1]  05
  can0  705   [1]  05
  can0  704   [1]  05
  can0  701   [1]  05
  can0  705   [1]  05
  can0  704   [1]  05
  can0  701   [1]  05
  can0  705   [1]  05
  can0  704   [1]  05
  can0  701   [1]  05
  can0  705   [1]  05
  can0  704   [1]  05
  can0  701   [1]  05
  can0  705   [1]  05
  can0  704   [1]  05
  can0  701   [1]  05
  can0  705   [1]  05
  can0  704   [1]  05
  can0  701   [1]  05
  can0  705   [1]  05
  can0  704   [1]  05
  can0  701   [1]  05
  can0  705   [1]  05
  can0  704   [1]  05
  can0  701   [1]  05
  can0  705   [1]  05
  can0  704   [1]  05
  can0  701   [1]  05
  can0  705   [1]  05
  can0  701   [1]  05
  can0  704   [1]  05
  can0  701   [1]  05
  can0  705   [1]  05
  can0  704   [1]  05
  can0  701   [1]  05
  can0  705   [1]  05
  can0  704   [1]  05
  can0  701   [1]  05
  can0  705   [1]  05
  can0  704   [1]  05
  can0  701   [1]  05
  can0  705   [1]  05
  can0  704   [1]  05
GMezWheel commented 2 years ago

OK. 701 corresponds to canopen master node.

Can you echo your cmd_vel message ? $ ros topic echo cmd_vel

fig-shimooka commented 2 years ago

The nodeId in left_drive_config.ini was 16. Is this the cause? $ cat /opt/ezw/usr/etc/ezw-smc-core/left_drive_config.ini

SMC Drive service config file

contextId = 12 nodeId = 16

$ cat /opt/ezw/usr/etc/ezw-smc-core/swd_left_config.ini

SMC Drive service config file

contextId = 12 nodeId = 4

linear: x: -0.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.6316610276699066

linear: x: -0.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.6316610276699066

linear: x: -0.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.6316610276699066

Candump results when cmd_vel->angular.z is fluctuating $ candump can0 |grep 70 can0 701 [1] 05 can0 705 [1] 05 can0 704 [1] 05 can0 701 [1] 05 can0 705 [1] 05 can0 704 [1] 05 can0 701 [1] 05 can0 705 [1] 05 can0 704 [1] 05 can0 701 [1] 05 can0 705 [1] 05 can0 701 [1] 05 can0 704 [1] 05 can0 705 [1] 05 can0 385 [8] 27 00 70 03 00 00 44 00 can0 701 [1] 05 can0 704 [1] 05 can0 705 [1] 05 can0 701 [1] 05 can0 704 [1] 05 can0 705 [1] 05 can0 701 [1] 05 can0 384 [8] 27 00 70 04 00 00 44 00 can0 704 [1] 05 can0 705 [1] 05 can0 701 [1] 05 can0 384 [8] 27 00 70 04 00 00 44 00 can0 384 [8] 27 00 70 04 00 00 44 00 can0 384 [8] 27 00 70 04 00 00 44 00 can0 384 [8] 27 00 70 04 00 00 44 00 can0 704 [1] 05 can0 705 [1] 05 can0 701 [1] 05 can0 704 [1] 05 can0 705 [1] 05 can0 701 [1] 05 can0 484 [8] 27 00 70 FF FF FF 44 00 can0 485 [8] 27 00 70 FF FF FF 44 00 can0 485 [8] 27 00 70 FF FF FF 44 00 can0 484 [8] 27 00 70 FF FF FF 44 00 can0 704 [1] 05 can0 705 [1] 05 can0 701 [1] 05 can0 704 [1] 05 can0 705 [1] 05 can0 701 [1] 05 can0 385 [8] 27 00 70 03 00 00 44 00 can0 704 [1] 05 can0 701 [1] 05 can0 705 [1] 05 can0 384 [8] 27 00 70 03 00 00 44 00 can0 704 [1] 05 can0 701 [1] 05 can0 705 [1] 05 can0 701 [1] 05 can0 704 [1] 05 can0 705 [1] 05 can0 701 [1] 05 can0 704 [1] 05 can0 705 [1] 05 can0 701 [1] 05 can0 704 [1] 05

GMezWheel commented 2 years ago

Yes, your rigths.

NodeId shall be 4 into /opt/ezw/usr/etc/ezw-smc-core/left_drive_config.ini

But now, the config file name is swd_left_config.ini.

fig-shimooka commented 2 years ago

Renumbered. Result remains the same, cannot turn

can0 705 [1] 05 can0 384 [8] 27 00 70 00 00 00 44 00 can0 385 [8] 27 00 70 00 00 00 44 00 can0 701 [1] 05 can0 704 [1] 05 can0 705 [1] 05 can0 701 [1] 05 can0 704 [1] 05 can0 705 [1] 05 can0 701 [1] 05 can0 384 [8] 27 00 70 00 00 00 44 00 can0 704 [1] 05 can0 705 [1] 05 can0 701 [1] 05 can0 704 [1] 05 can0 705 [1] 05 can0 701 [1] 05 can0 704 [1] 05 can0 705 [1] 05 can0 701 [1] 05 can0 704 [1] 05 can0 705 [1] 05 can0 701 [1] 05 can0 704 [1] 05 can0 385 [8] 27 00 70 FF FF FF 44 00 can0 701 [1] 05 can0 384 [8] 27 00 70 FF FF FF 44 00 can0 705 [1] 05 can0 701 [1] 05 can0 704 [1] 05 can0 705 [1] 05

GMezWheel commented 2 years ago

Normal that nothing change as the good config file name is : swd_left_config.ini

fig-shimooka commented 2 years ago

I will send you my ezw folder. I checked, only swd_left_config.ini was used. ezw.zip

fig-shimooka commented 2 years ago

I want to check the data of the operating volume sent to the left and right motors (I want to know if the same data is sent to the left and right motors). Can I check this in candump?

GMezWheel commented 2 years ago

Yes. can-id : 504 (left) et 505 (right) => in the payload, the second 16bit is the target_velocity requested.

GMezWheel commented 2 years ago

In the swd_sk user home directory, there is a remote.py script.

You can connect to the swd-left dbus session with : $ ./remote.py swd_left

fig-shimooka commented 2 years ago

Thank you. I have seen the data. It appears that the same data is being sent in both cases when I turn the wheel. dump

Remote.py results.

/opt/ezw/usr/sbin$ ./remote.py swd_left

SYSTEMCTL_dbus.id detected
DBUS Instance        : swd_left ..................................................................... [OK]
Node ID              : 0x4 .......................................................................... [OK]
Vendor-Id            : 0x515 ........................................................................ [OK]
Product code         : 0x10001 ...................................................................... [OK]
Serial number        : 721485826 .................................................................... [OK]
Revision number      : 4 ............................................................................ [OK]
SWVersion            : 0.9.0 ........................................................................ [OK]
HWVersion            : 3.0.0 ........................................................................ [OK]
Calibrated           : True ......................................................................... [OK]
SRDO validity        : True ......................................................................... [OK]
NMT State            : OPER  ........................................................................ [OK]
PDS State            : OPERATION_ENABLED  ........................................................... [OK]
NbError              : 1 ............................................................................ [OK]
LastError            : 4210 : Excess_temperature_device ............................................. [OK]
SystemError          : EZW_PROTECT_NONE EZW_PROTECT_NONE  ........................................... [OK]
SSW CAN1             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN2             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN3             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN4             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN5             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN6             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN7             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN8             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW SAFEOUT          : False, False, False, False, False, False, False, False  ...................... [OK]
SCW SAFEIN_1         : True, True, True, True, True, True, True, True  .............................. [OK]
Peripheral           : True, True, True, True, True, True  .......................................... [OK]
VelocityModeSW       : internal_limit_active: True .................................................. [OK]
VelocityModeCW       : enable_ramp: False, unlock_ramp: False, reference_ramp: False, halt: False ... [OK]
Polarity             : velocity_polarity: True, position_polarity: True ............................. [OK]
TargetVelocity       : 0 ............................................................................ [OK]
VelocityDemand       : 0 ............................................................................ [OK]
VelocityActualValue  : 0 ............................................................................ [OK]
PositionValue        : 147 .......................................................................... [OK]
OdometryValue        : 137 .......................................................................... [OK]
<COM> Switch NodeID = i Restore param = j
<NMT> RESET_NODE = r
<PDS> Go to OPERATION_ENABLED = o
<VL mode> target velocity (500) = +/- positive order = 8 negative order = 2 stop = *
<Param> STO_ACK off/on = f/n
<Diagnostic> a
<SW> s
<quit> 0

/opt/ezw/usr/sbin$ ./remote.py swd_right

SYSTEMCTL_dbus.id detected
DBUS Instance        : swd_right .................................................................... [OK]
Node ID              : 0x5 .......................................................................... [OK]
Vendor-Id            : 0x515 ........................................................................ [OK]
Product code         : 0x10001 ...................................................................... [OK]
Serial number        : 724434945 .................................................................... [OK]
Revision number      : 4 ............................................................................ [OK]
SWVersion            : 0.9.0 ........................................................................ [OK]
HWVersion            : 3.0.0 ........................................................................ [OK]
Calibrated           : True ......................................................................... [OK]
SRDO validity        : True ......................................................................... [OK]
NMT State            : OPER  ........................................................................ [OK]
PDS State            : OPERATION_ENABLED  ........................................................... [OK]
NbError              : 1 ............................................................................ [OK]
LastError            : 4210 : Excess_temperature_device ............................................. [OK]
SystemError          : EZW_PROTECT_NONE EZW_PROTECT_NONE  ........................................... [OK]
SSW CAN1             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN2             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN3             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN4             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN5             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN6             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN7             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW CAN8             : False, False, False, False, False, False, False, False  ...................... [OK]
SSW SAFEOUT          : False, False, False, False, False, False, False, False  ...................... [OK]
SCW SAFEIN_1         : True, True, False, False, False, False, True, True  .......................... [OK]
Peripheral           : True, True, True, True, True, True  .......................................... [OK]
VelocityModeSW       : internal_limit_active: True .................................................. [OK]
VelocityModeCW       : enable_ramp: False, unlock_ramp: False, reference_ramp: False, halt: False ... [OK]
Polarity             : velocity_polarity: False, position_polarity: False ........................... [OK]
TargetVelocity       : 0 ............................................................................ [OK]
VelocityDemand       : 0 ............................................................................ [OK]
VelocityActualValue  : 0 ............................................................................ [OK]
PositionValue        : 48 ........................................................................... [OK]
OdometryValue        : 44 ........................................................................... [OK]
<COM> Switch NodeID = i Restore param = j
<NMT> RESET_NODE = r
<PDS> Go to OPERATION_ENABLED = o
<VL mode> target velocity (500) = +/- positive order = 8 negative order = 2 stop = *
<Param> STO_ACK off/on = f/n
<Diagnostic> a
<SW> s
<quit> 0
GMezWheel commented 2 years ago

Can you send me the version of all your debian ezw packages ? I will build a similar config to check the problem ?

fig-shimooka commented 2 years ago

The version of swd-services is available here. swd-services: Installed: 0.2.0 Candidate: 0.2.0 Version table: *** 0.2.0 500 500 http://packages.ez-wheel.com:8081/ubuntu focal/main amd64 Packages 100 /var/lib/dpkg/status

swd_ros_controllers and swd_starter_kit_bringup got the latest source code from git.

I would like it to be composed if you don't mind.

fig-shimooka commented 2 years ago

Source code for ros_ws is available here. ros1_swd.zip

GMezWheel commented 2 years ago

Thanks. I'll be able to test your environment.

fig-shimooka commented 2 years ago

Thank you. Very much appreciated!

GMezWheel commented 2 years ago

Can you check /opt/ezw/usr/etc/ezw-canopen-service config files ? => these files seems differents between ezw.zip and ros1_swd.zip.

The good ones are the following:

Make sure /opt/ezw link to ~/ros1_swd\ezw $ sudo ln -s ~/ros1_swd\ezw /opt $ ls -al /opt lrwxrwxrwx 1 root root 23 mars 18 13:35 ezw -> /disk1/ros1_swd/opt/ezw

With the good files, it seems OK: $ rostopic pub -1 /cmd_vel geometry_msgs/Twist -- '[0.0, 0.0, 0.0]' '[0.0, 0.0, 0.6316610276699066]' 

[ INFO] [1647610123.879023243]: Got Twist command: linear = 0.000000 m/s, angular = 0.631661 rad/s. Calculated speeds (left, right) = (-327, 327) rpm
[ INFO] [1647610123.998196859]: Speed sent to motors (left, right) = (-327, 327) rpm
fig-shimooka commented 2 years ago

The /opt/ezw/usr/etc folder is here. All three csv files were different. The ros1_swd.zip/ros1_swd/ezw/usr/etc/ezw-canopen-service folder was overwritten with /opt/ezw/usr/etcezw-canopen-service. The system was then rebooted, but the result remains the same.

etc.zip

## candump can0 | grep 70
  can0  701   [1]  05
  can0  704   [1]  05
  can0  705   [1]  05
  can0  701   [1]  05

## candump can0 |grep 50
  can0  505   [4]  0F 00 E4 FE
  can0  504   [4]  0F 00 E4 FE
  can0  505   [4]  0F 00 E4 FE
  can0  504   [4]  0F 00 E4 FE
  can0  505   [4]  0F 00 E4 FE
  can0  504   [4]  0F 00 E4 FE
  can0  505   [4]  0F 00 E4 FE
  can0  504   [4]  0F 00 E4 FE
  can0  505   [4]  0F 00 E4 FE
  can0  504   [4]  0F 00 E4 FE
  can0  505   [4]  0F 00 E4 FE
  can0  504   [4]  0F 00 E4 FE

---
linear:
  x: -0.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.45693452358245845
---
linear:
  x: -0.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.45693452358245845
fig-shimooka commented 2 years ago

There is a difference in the MasterName in pdo_mapping.csv between the arm and x86-64 versions. It is named swd_right(or right)_controlword in the arm version and smc_test_controlword in the x86-64 version. The difference also affects the library. For example, /opt/ezw/usr/include/ezw-canopen/app_od.h is affected. I want to configure SWD in an x86-64 environment. "apt get install" did not install swd-starter-kit. So I quote some /opt/ezw files from IMX6 PC(arm). I assume this is the cause. Can you distribute swd-starter-kit for x86-64 as well?

pdo_mapping.csv ( x86-64)

NodeID,Address,Name,MasterAddress,MasterName

# Drive 0x10
16,0x60400010,controlword,0x60030010,smc_drive_controlword
16,0x60420010,vl_target_velocity,0x60040010,smc_drive_vl_target_velocity
16,0x20000020,ezw_smc_status_word,0x60000020,smc_drive_statusword
16,0x20308008,supported_fsa_actions,0x21000008,smc_drive_supported_fsa_actions
16,0x606C0020,velocity_actual_value,0x60010020,smc_drive_velocity_actual_value
16,0x60640020,position_value,0x60020020,smc_drive_position_value
16,0x60410010,statusword,0x600d0010,smc_drive_cia402_statusword

# Test 0x05
5,0x60400010,controlword,0x61030010,smc_test_controlword
5,0x60420010,vl_target_velocity,0x61040010,smc_test_vl_target_velocity
5,0x20000020,ezw_smc_status_word,0x61000020,smc_test_statusword
5,0x20308008,supported_fsa_actions,0x21010008,smc_test_supported_fsa_actions
5,0x606C0020,velocity_actual_value,0x61010020,smc_test_velocity_actual_value
5,0x60640020,position_value,0x61020020,smc_test_position_value
5,0x60410010,statusword,0x61050010,smc_test_cia402_statusword

# Test 0x04
4,0x60400010,controlword,0x61030010,smc_test_controlword
4,0x60420010,vl_target_velocity,0x61040010,smc_test_vl_target_velocity
4,0x20000020,ezw_smc_status_word,0x61000020,smc_test_statusword
4,0x20308008,supported_fsa_actions,0x21010008,smc_test_supported_fsa_actions
4,0x606C0020,velocity_actual_value,0x61010020,smc_test_velocity_actual_value
4,0x60640020,position_value,0x61020020,smc_test_position_value
4,0x60410010,statusword,0x61050010,smc_test_cia402_statusword

pdo_mapping.csv ( armh)

NodeID,Address,Name,MasterAddress,MasterName

# SWD Left 0x4

# TPDO
4,0x60400010,controlword,0x61030010,swd_left_controlword
4,0x60420010,vl_target_velocity,0x61040010,swd_left_vl_target_velocity
# RPDO
4,0x606C0020,velocity_actual_value,0x61010020,swd_left_velocity_actual_value
4,0x60640020,position_value,0x61020020,swd_left_position_value
4,0x60410010,statusword,0x61050010,swd_left_statusword

# SWD Right 0x05

# TPDO
5,0x60400010,controlword,0x61090010,swd_right_controlword
5,0x60420010,vl_target_velocity,0x610a0010,swd_right_vl_target_velocity
# RPDO
5,0x606C0020,velocity_actual_value,0x61070020,swd_right_velocity_actual_value
5,0x60640020,position_value,0x61080020,swd_right_position_value
5,0x60410010,statusword,0x610b0010,swd_right_statusword

app_od.h(armh)

/**
 * Copyright (C) 2021, EZ-Wheel S.A.S.
 *
 * \file app_od.h
 */

#ifndef APP_OD_H
#define APP_OD_H

#include "co_datatype.h"
#include "ezw_types.h"

#define APP_OD_OCTET_STRING_MAX_SIZE 32

/* Insert application variables that are used in the OD here */

#endif                                           /* APP_OD_H */
extern int32_t  smc_drive_velocity_actual_value; /**< 0x6001:0x00 (smc_drive_velocity_actual_value) */
extern int32_t  smc_drive_position_value;        /**< 0x6002:0x00 (smc_drive_position_value) */
extern uint16_t smc_drive_controlword;           /**< 0x6003:0x00 (smc_drive_controlword) */
extern int16_t  smc_drive_vl_target_velocity;    /**< 0x6004:0x00 (smc_drive_vl_target_velocity) */
extern uint16_t smc_drive_statusword;            /**< 0x600d:0x00 (smc_drive_statusword) */
extern int32_t  swd_left_velocity_actual_value;  /**< 0x6101:0x00 (swd_left_velocity_actual_value) */
extern int32_t  swd_left_position_value;         /**< 0x6102:0x00 (swd_left_position_value) */
extern uint16_t swd_left_controlword;            /**< 0x6103:0x00 (swd_left_controlword) */
extern int16_t  swd_left_vl_target_velocity;     /**< 0x6104:0x00 (swd_left_vl_target_velocity) */
extern uint16_t swd_left_statusword;             /**< 0x6105:0x00 (swd_left_statusword) */
extern int32_t  swd_right_velocity_actual_value; /**< 0x6107:0x00 (swd_right_velocity_actual_value) */
extern int32_t  swd_right_position_value;        /**< 0x6108:0x00 (swd_right_position_value) */
extern uint16_t swd_right_controlword;           /**< 0x6109:0x00 (swd_right_controlword) */
extern int16_t  swd_right_vl_target_velocity;    /**< 0x610a:0x00 (swd_right_vl_target_velocity) */
extern uint16_t swd_right_statusword;            /**< 0x610b:0x00 (swd_right_statusword) */

app_od.h(x86-64)

/**
 * Copyright (C) 2021, EZ-Wheel S.A.S.
 *
 * \file app_od.h
 */

#ifndef APP_OD_H
#define APP_OD_H

#include "co_datatype.h"
#include "ezw_types.h"

#define APP_OD_OCTET_STRING_MAX_SIZE 32

/* Insert application variables that are used in the OD here */

extern uint8_t smc_drive_supported_fsa_actions; /**< 0x2100:0x00 (smc_drive_supported_fsa_actions) */
extern uint8_t smc_test_supported_fsa_actions; /**< 0x2101:0x00 (smc_test_supported_fsa_actions) */
extern uint32_t smc_drive_statusword; /**< 0x6000:0x00 (smc_drive_statusword) */
extern int32_t smc_drive_velocity_actual_value; /**< 0x6001:0x00 (smc_drive_velocity_actual_value) */
extern int32_t smc_drive_position_value; /**< 0x6002:0x00 (smc_drive_position_value) */
extern uint16_t smc_drive_controlword; /**< 0x6003:0x00 (smc_drive_controlword) */
extern int16_t smc_drive_vl_target_velocity; /**< 0x6004:0x00 (smc_drive_vl_target_velocity) */
extern uint16_t smc_drive_cia402_statusword; /**< 0x600d:0x00 (smc_drive_cia402_statusword) */
extern uint32_t smc_test_statusword; /**< 0x6100:0x00 (smc_test_statusword) */
extern int32_t smc_test_velocity_actual_value; /**< 0x6101:0x00 (smc_test_velocity_actual_value) */
extern int32_t smc_test_position_value; /**< 0x6102:0x00 (smc_test_position_value) */
extern uint16_t smc_test_controlword; /**< 0x6103:0x00 (smc_test_controlword) */
extern int16_t smc_test_vl_target_velocity; /**< 0x6104:0x00 (smc_test_vl_target_velocity) */
extern uint16_t smc_test_cia402_statusword; /**< 0x6105:0x00 (smc_test_cia402_statusword) */

#endif /* APP_OD_H */
GMezWheel commented 2 years ago

I think there is a problem with the swd-services package installation.

Indeed, all the previous bad config files are contained in swd-services package (/opt/ezw/usr directory) and not in swd-starter-kit package (/opt/ezw directory). Thus, if you install swd-services_0.2.0_amd64.deb, the files in /opt/ezw/usr/etc will be overwritten by the correct ones : 

# SWD Left 0x4
...
# SWD Right 0x5
...
fig-shimooka commented 2 years ago

The ezw folder was deleted and swd-service was installed again. The result was no different.

NodeID,Address,Name,MasterAddress,MasterName

# Drive 0x10
16,0x60400010,controlword,0x60030010,smc_drive_controlword
16,0x60420010,vl_target_velocity,0x60040010,smc_drive_vl_target_velocity
16,0x20000020,ezw_smc_status_word,0x60000020,smc_drive_statusword
16,0x20308008,supported_fsa_actions,0x21000008,smc_drive_supported_fsa_actions
16,0x606C0020,velocity_actual_value,0x60010020,smc_drive_velocity_actual_value
16,0x60640020,position_value,0x60020020,smc_drive_position_value
16,0x60410010,statusword,0x600d0010,smc_drive_cia402_statusword

# Test 0x05
5,0x60400010,controlword,0x61030010,smc_test_controlword
5,0x60420010,vl_target_velocity,0x61040010,smc_test_vl_target_velocity
5,0x20000020,ezw_smc_status_word,0x61000020,smc_test_statusword
5,0x20308008,supported_fsa_actions,0x21010008,smc_test_supported_fsa_actions
5,0x606C0020,velocity_actual_value,0x61010020,smc_test_velocity_actual_value
5,0x60640020,position_value,0x61020020,smc_test_position_value
5,0x60410010,statusword,0x61050010,smc_test_cia402_statusword

# Test 0x04
4,0x60400010,controlword,0x61030010,smc_test_controlword
4,0x60420010,vl_target_velocity,0x61040010,smc_test_vl_target_velocity
4,0x20000020,ezw_smc_status_word,0x61000020,smc_test_statusword
4,0x20308008,supported_fsa_actions,0x21010008,smc_test_supported_fsa_actions
4,0x606C0020,velocity_actual_value,0x61010020,smc_test_velocity_actual_value
4,0x60640020,position_value,0x61020020,smc_test_position_value
4,0x60410010,statusword,0x61050010,smc_test_cia402_statusword
GMezWheel commented 2 years ago

Sorry. You're right.

The files are not correct in the package.

I'll rebuild a new version of this package for amd64.

fig-shimooka commented 2 years ago

Thank you. It helps. If you don't mind, I would like to know the completion schedule.

GMezWheel commented 2 years ago

In two days (coming monday).

fig-shimooka commented 2 years ago

Sometimes the execution of swd_left(or right)_NODE_ID_commissioning.py fails. The timing of the failure varies each time. Are other nodes interrupting? It occurs whether ezw-ros-bringup.service is stopped or run.

I will wait if it will be improved in the next distribution package.


$ systemctl -a | grep ezw
  ezw-canopen.service                                                                                        loaded    active     running            EZW CANOPEN SERVICE                                                                    
  ezw-dbus-user-session.service                                                                              loaded    active     running            EZW DBUS USER SESSION SERVICE                                                          
  ezw-stack.service                                                                                          loaded    active     running            EZW APP STARTUP - PARENT SERVICE                                                       
  ezw-swd-left.service                                                                                       loaded    active     running            EZW SWD LEFT SERVICE                                                                   
  ezw-swd-right.service                                                                                      loaded    active     running            EZW SWD RIGHT SERVICE

result


$ python3 swd_left_4_commissioning.py 
SYSTEMCTL_dbus.id detected
create_dbus_clients(swd_left) : OK
Restore factory parameters : OK
Reset to apply parameters : OK
setNetworkParameters(node_id=4) : OK
setTPDOCommunicationParameters(PDOId.PDO_1) : Failed

Commissioning failed !
$ python3 swd_left_4_commissioning.py 
SYSTEMCTL_dbus.id detected
create_dbus_clients(swd_left) : OK
Restore factory parameters : OK
Reset to apply parameters : OK
setNetworkParameters(node_id=4) : OK
setTPDOCommunicationParameters(PDOId.PDO_1) : OK
setTPDOCommunicationParameters(PDOId.PDO_2) : OK
setTPDOCommunicationParameters(PDOId.PDO_3) : OK
setTPDOCommunicationParameters(PDOId.PDO_4) : OK
setRPDOCommunicationParameters(PDOId.PDO_1) : OK
setRPDOCommunicationParameters(PDOId.PDO_2) : OK
setRPDOCommunicationParameters(PDOId.PDO_3) : OK
setRPDOCommunicationParameters(PDOId.PDO_4) : OK
setPolarityParameters(True) : OK
getSRDOParameters(SRDO_1) : OK
setSRDOParameters(SRDO_1) : Failed

swd_left_4_commissioning.py

from enum import Enum
import sys
import time

sys.path.append(".")

import commissioning

from smcdbusclient.communication import BlocId
from smcdbusclient.nmt import NMTCommand

from smcdbusclient.safe_motion import SafetyControlWordId, SafetyFunctionId

from smcdbusclient.srdo import SRDOId, SRDOParameters

def update_SRDO_parameters():
    # SRDO_9
    # communication parameters (RX)
    srdoParam = SRDOParameters()
    srdoParam.can_id1 = 0x109
    srdoParam.can_id2 = 0x10A
    srdoParam.valid = 1
    srdoParam.sct = 255
    srdoParam.srvt = 100
    error = commissioning.srdo_client.setSRDOParameters(SRDOId.SRDO_9, srdoParam)
    commissioning.check("setSRDOParameters(SRDOId.SRDO_9)", error)

    # mapping parameters
    scw = SafetyControlWordId.CAN_2
    scwMapping = [
        SafetyFunctionId.NONE,
        SafetyFunctionId.NONE,
        SafetyFunctionId.NONE,
        SafetyFunctionId.NONE,
        SafetyFunctionId.NONE,
        SafetyFunctionId.NONE,
        SafetyFunctionId.NONE,
        SafetyFunctionId.NONE,
    ]
    scwMapping[0] = SafetyFunctionId.STO
    scwMapping[1] = SafetyFunctionId.STO

    commissioning.safe_motion_client.setSafetyControlWordMapping(scw, commissioning.list_to_swm(scwMapping))
    commissioning.check("setSafetyControlWordMapping()", error)

    # SRDO_16
    # communication parameters (TX)
    srdoParam = SRDOParameters()
    srdoParam.can_id1 = 0x160
    srdoParam.can_id2 = 0x161
    srdoParam.valid = 1
    srdoParam.sct = 50
    srdoParam.srvt = 20
    error = commissioning.srdo_client.setSRDOParameters(SRDOId.SRDO_16, srdoParam)
    commissioning.check("setSRDOParameters(SRDOId.SRDO_16)", error)

    # mapping parameters
    scw = SafetyControlWordId.SAFEIN_1
    scwMapping = [
        SafetyFunctionId.NONE,
        SafetyFunctionId.NONE,
        SafetyFunctionId.NONE,
        SafetyFunctionId.NONE,
        SafetyFunctionId.NONE,
        SafetyFunctionId.NONE,
    ]

    scwMapping[0] = SafetyFunctionId.STO
    scwMapping[1] = SafetyFunctionId.STO
    scwMapping[2] = SafetyFunctionId.SDIN_1
    scwMapping[3] = SafetyFunctionId.SDIN_1
    scwMapping[4] = SafetyFunctionId.SLS_1
    scwMapping[5] = SafetyFunctionId.SLS_1

    commissioning.safe_motion_client.setSafetyControlWordMapping(scw, commissioning.list_to_swm(scwMapping))
    commissioning.check("setSafetyControlWordMapping()", error)

    # Update configuration validity
    error = commissioning.srdo_client.setSRDOConfigurationValidity()
    commissioning.check("setSRDOConfigurationValidity()", error)

# =======================
#      MAIN PROGRAM
# =======================

def main(argv):

    instance_id = "swd_left"
    node_id = 0x04
    polarity = True  # velocity demand value/motor revolution increments shall be multiplied by –1 if True
    vl_dec_delta_speed = 1000
    restart_acknowledge_behavior = False
    sls_vl_limit = 680
    sls_vl_time_monitoring = 1000

    # Create DBus clients
    commissioning.create_dbus_clients(instance_id)

    # for srdo in SRDOId:
    #     (
    #         direction,
    #         srdoParameters,
    #         signature,
    #         error,
    #     ) = commissioning.srdo_client.getSRDOParameters(srdo)
    #     print(srdoParameters)

    # return 0

    # Restore factory parameters
    error = commissioning.communication_client.restoreDefaultParameters(BlocId.ALL)
    commissioning.check("Restore factory parameters", 1)  # error)

    # Reset to apply parameters
    error = commissioning.nmt_client.setNMTState(NMTCommand.RESET_NODE)
    commissioning.check("Reset to apply parameters", error)

    # Sleep 500ms
    time.sleep(0.5)

    #
    # Change Network parameters
    #
    commissioning.update_network_parameters(node_id)

    #
    # Change PDO communication parameters
    #
    commissioning.update_communication_parameters(node_id)

    #
    # Change Polarity parameters
    #
    commissioning.update_polarity_parameters(polarity)

    #
    # Change SRDO parameters
    #
    commissioning.disable_SRDO_parameters()

    #
    # Update SRDO parameters
    #
    update_SRDO_parameters()

    #
    # Update Ramps
    #
    commissioning.update_ramps(vl_dec_delta_speed)

    #
    # Update STO parameters
    #
    commissioning.update_STO_parameters(restart_acknowledge_behavior)

    #
    # Update SLS parameters
    #
    commissioning.update_SLS_parameters(sls_vl_limit, sls_vl_time_monitoring)

    # Save modified parameters
    error = commissioning.communication_client.storeParameters(BlocId.ALL)
    commissioning.check("storeParameters", 1)  # error)

    # Reset to apply parameters
    error = commissioning.nmt_client.setNMTState(NMTCommand.RESET_NODE)
    commissioning.check("setNMTState", error)

    # Exit with success
    print("\nCommissioning succeeded !")

if __name__ == "__main__":

    main(sys.argv[1:])

swd_right_5_commissioning.py

from enum import Enum
import sys
import time

sys.path.append(".")

import commissioning

from smcdbusclient.communication import BlocId
from smcdbusclient.nmt import NMTCommand

from smcdbusclient.safe_motion import SafetyControlWordId, SafetyFunctionId

from smcdbusclient.srdo import SRDOId, SRDOParameters

def update_SRDO_parameters():
    # SRDO_9
    # communication parameters (RX)
    srdoParam = SRDOParameters()
    srdoParam.can_id1 = 0x160
    srdoParam.can_id2 = 0x161
    srdoParam.valid = 1
    srdoParam.sct = 255
    srdoParam.srvt = 100
    error = commissioning.srdo_client.setSRDOParameters(SRDOId.SRDO_9, srdoParam)
    commissioning.check("setSRDOParameters(SRDOId.SRDO_9)", error)

    # mapping parameters
    scw = SafetyControlWordId.CAN_2
    scwMapping = [
        SafetyFunctionId.NONE,
        SafetyFunctionId.NONE,
        SafetyFunctionId.NONE,
        SafetyFunctionId.NONE,
        SafetyFunctionId.NONE,
        SafetyFunctionId.NONE,
        SafetyFunctionId.NONE,
        SafetyFunctionId.NONE,
    ]

    scwMapping[0] = SafetyFunctionId.STO
    scwMapping[1] = SafetyFunctionId.STO
    scwMapping[2] = SafetyFunctionId.SDIP_1
    scwMapping[3] = SafetyFunctionId.SDIP_1
    scwMapping[4] = SafetyFunctionId.SLS_1
    scwMapping[5] = SafetyFunctionId.SLS_1

    commissioning.safe_motion_client.setSafetyControlWordMapping(scw, commissioning.list_to_swm(scwMapping))
    commissioning.check("setSafetyControlWordMapping()", error)

    # SRDO 16
    # communication parameters (TX)
    srdoParam = SRDOParameters()
    srdoParam.can_id1 = 0x109
    srdoParam.can_id2 = 0x10A
    srdoParam.valid = 1
    srdoParam.sct = 50
    srdoParam.srvt = 20
    error = commissioning.srdo_client.setSRDOParameters(SRDOId.SRDO_16, srdoParam)
    commissioning.check("setSRDOParameters(SRDOId.SRDO_16)", error)

    # mapping parameters
    scw = SafetyControlWordId.SAFEIN_1
    scwMapping = [
        SafetyFunctionId.NONE,
        SafetyFunctionId.NONE,
        SafetyFunctionId.NONE,
        SafetyFunctionId.NONE,
        SafetyFunctionId.NONE,
        SafetyFunctionId.NONE,
    ]
    scwMapping[0] = SafetyFunctionId.STO
    scwMapping[1] = SafetyFunctionId.STO

    commissioning.safe_motion_client.setSafetyControlWordMapping(scw, commissioning.list_to_swm(scwMapping))
    commissioning.check("setSafetyControlWordMapping()", error)

    # Update configuration validity
    error = commissioning.srdo_client.setSRDOConfigurationValidity()
    commissioning.check("setSRDOConfigurationValidity()", error)

# =======================
#      MAIN PROGRAM
# =======================

def main(argv):

    instance_id = "swd_right"
    node_id = 0x05
    polarity = True # velocity demand value/motor revolution increments shall be multiplied by –1 if True
    vl_dec_delta_speed = 1000
    # vl_dec_delta_speed = 10000
    restart_acknowledge_behavior = False
    sls_vl_limit = 680
    # sls_vl_limit = 10
    sls_vl_time_monitoring = 1000
    direction= 2

    # Create DBus clients
    commissioning.create_dbus_clients(instance_id)

    # for srdo in SRDOId:
    #     (
    #         direction,
    #         srdoParameters,
    #         signature,
    #         error,
    #     ) = commissioning.srdo_client.getSRDOParameters(srdo)
    #     print(srdoParameters)

    # return 0

    # Restore factory parameters
    error = commissioning.communication_client.restoreDefaultParameters(BlocId.ALL)
    commissioning.check("Restore factory parameters", 1)  # error)

    # Reset to apply parameters
    error = commissioning.nmt_client.setNMTState(NMTCommand.RESET_NODE)
    commissioning.check("Reset to apply parameters", error)

    # Sleep 500ms
    time.sleep(0.5)

    #
    # Change Network parameters
    #
    commissioning.update_network_parameters(node_id)

    #
    # Change PDO communication parameters
    #
    commissioning.update_communication_parameters(node_id)

    #
    # Change Polarity parameters
    #
    commissioning.update_polarity_parameters(polarity)

    #
    # Change SRDO parameters
    #
    commissioning.disable_SRDO_parameters()

    #
    # Update SRDO parameters
    #
    update_SRDO_parameters()

    #
    # Update Ramps
    #
    commissioning.update_ramps(vl_dec_delta_speed)

    #
    # Update STO parameters
    #
    commissioning.update_STO_parameters(restart_acknowledge_behavior)

    #
    # Update SLS parameters
    #
    commissioning.update_SLS_parameters(sls_vl_limit, sls_vl_time_monitoring)

    # Save modified parameters
    error = commissioning.communication_client.storeParameters(BlocId.ALL)
    commissioning.check("storeParameters", 1)  # error)

    # Reset to apply parameters
    error = commissioning.nmt_client.setNMTState(NMTCommand.RESET_NODE)
    commissioning.check("setNMTState", error)

    # Exit with success
    print("\nCommissioning succeeded !")

if __name__ == "__main__":

    main(sys.argv[1:])
GMezWheel commented 2 years ago

Hi @fig-shimooka,

During commissioning, swd firmware shall stay in NMT PREOP; but, swd_ros_controller force NMT OPER mode when running. => swd_ros_controller shall be stopped when commissioning Is it embarrassing for you ?

GMezWheel commented 2 years ago

swd-services v0.1.1 with correct CANopen dictionary is available.

NOTA : v0.2.0 has been removed

fig-shimooka commented 2 years ago

What I want to do is change velocity_limit_u32 with swd_ros_controller running. If this is not possible, I will consider how to shut down swd_ros_controller once and then change it.

fig-shimooka commented 2 years ago

Hi @GMezWheel Thanks for the "swd-service" update!

It is now being tested for operation. The error has been occurring since I ran Commissioning yesterday. Is there any way to initialise SWD Core?


$ python3 swd_left_4_commissioning.py
SYSTEMCTL_dbus.id detected
create_dbus_clients(swd_left) : OK
Traceback (most recent call last):
  File "swd_left_4_commissioning.py", line 178, in <module>.
    main(sys.argv[1:])
  File "swd_left_4_commissioning.py", line 108, in main
    ) = commissioning.srdo_client.getSRDOParameters(srdo)
  File "/opt/ezw/usr/lib/smcdbusclient/srdo.py", line 128, in getSRDOParameters
    a = (SRDODirection.fromDBus(r[0]), SRDOParameters.fromDBus(r[1]), int(r[2]), int(r[3]))
  File "/opt/ezw/usr/lib/smcdbusclient/srdo.py", line 44, in fromDBus
    return SRDODirection(int(dbus_obj))
  File "/usr/lib/python3.8/enum.py", line 339, in __call__.
    return cls.__new__(cls, value)
  File "/usr/lib/python3.8/enum.py", line 663, in __new__.
    raise ve_exc
ValueError: 0 is not a valid SRDODirection
fig-shimooka commented 2 years ago

The updateParameter also fails.


$ python3 swd_left_4_commissioning.py
SYSTEMCTL_dbus.id detected
create_dbus_clients(swd_left) : OK
Restore factory parameters : OK
Reset to apply parameters : OK
setNetworkParameters(node_id=4) : OK
setTPDOCommunicationParameters(PDOId.PDO_1) : OK
setTPDOCommunicationParameters(PDOId.PDO_2) : OK
setTPDOCommunicationParameters(PDOId.PDO_3) : OK
[commissioning.zip](https://github.com/ezWheelSAS/swd_ros_controllers/files/8315373/commissioning.zip)

setTPDOCommunicationParameters(PDOId.PDO_4) : OK
setRPDOCommunicationParameters(PDOId.PDO_1) : OK
setRPDOCommunicationParameters(PDOId.PDO_2) : OK
setRPDOCommunicationParameters(PDOId.PDO_3) : Failed
GMezWheel commented 2 years ago

In CANopen standard, direction set to 0 (in the CANopen dictionary) means SRDO is disabled (invalid).

But, in SRDOParameters value, SRDO direction is either 1 (TX) or 2 (RX). => direction with 0 will raised an error : "0 is not a valid SRDODirection" => the validity is in flag params.valid

The commissioning scripts will disable all SRDO => go to NMT PREOP => commissioning.disable_SRDO_parameters() and configure SRDO 9 and 16.

fig-shimooka commented 2 years ago

Where can I set up Directions? I can't find it in commissioning.py.

fig-shimooka commented 2 years ago

It is also no longer possible to set up the system. This too has no known cause. Is it because Commissioning has disabled SRDOs?


$ python3 swd_left_4_commissioning.py 
SYSTEMCTL_dbus.id detected
create_dbus_clients(swd_left) : OK
Restore factory parameters : OK
Reset to apply parameters : OK
setNetworkParameters(node_id=4) : Failed

$ python3 swd_left_4_commissioning.py 
SYSTEMCTL_dbus.id detected
create_dbus_clients(swd_left) : OK
Restore factory parameters : OK
Reset to apply parameters : OK
setNetworkParameters(node_id=4) : OK
setTPDOCommunicationParameters(PDOId.PDO_1) : OK
setTPDOCommunicationParameters(PDOId.PDO_2) : Failed

Commissioning failed !
GMezWheel commented 2 years ago

swd_ros_controller has to be stopped for using commissioning scripts.

GMezWheel commented 2 years ago

For commissioning SRDO, you can look at disable_SRDO_parameters in commissioning.py: => get SRDOParameters(X) => set params.valid to True or False => set SRDOParameters(X)

NOTA : SRDO2/10/16 are TX and RX for the others

fig-shimooka commented 2 years ago

swd_ros_controller is deactivated Also, disable_SRDO_parameters has params.valid set to True. This still causes an error.

GMezWheel commented 2 years ago

Maybe the both motors are using the same nodeId (16 by default). => candump can0 | grep 7 If this is the case, during commissioning one motor, the other one shall be off.

fig-shimooka commented 2 years ago

Parameters appear to be broken.

$  candump can0 | grep 7 
  can0  710   [1]  7F
  can0  710   [1]  7F
  can0  701   [1]  05
  can0  710   [1]  7F
  can0  710   [1]  7F
  can0  701   [1]  05
  can0  710   [1]  7F
  can0  710   [1]  7F
  can0  701   [1]  05
  can0  710   [1]  7F
  can0  701   [1]  05
  can0  710   [1]  7F
  can0  710   [1]  7F
  can0  701   [1]  05
  can0  710   [1]  7F

$ ./remote.py swd_right
SYSTEMCTL_dbus.id detected
DBUS Instance        : swd_right .................................................................... [OK]
Node ID              : 0x0 .......................................................................... [KO]
Vendor-Id            : 0x0 .......................................................................... [KO]
Product code         : 0x0 .......................................................................... [KO]
Serial number        : 0 ............................................................................ [KO]
Revision number      : 0 ............................................................................ [KO]
SWVersion            :  ............................................................................. [KO]
HWVersion            :  ............................................................................. [KO]
Calibrated           : False ........................................................................ [KO]
SRDO validity        : False ........................................................................ [KO]
NMT State            : UNKNOWN  ..................................................................... [OK]
PDS State            : NOT_READY_TO_SWITCH_ON  ...................................................... [KO]
NbError              : 0 ............................................................................ [KO]
LastError            : 0 : Error_reset_or_no_error .................................................. [OK]
SystemError          : EZW_PROTECT_NONE EZW_PROTECT_NONE  ........................................... [KO]
SSW CAN1             : False, False, False, False, False, False, False, False  ...................... [KO]
SSW CAN2             : False, False, False, False, False, False, False, False  ...................... [KO]
SSW CAN3             : False, False, False, False, False, False, False, False  ...................... [KO]
SSW CAN4             : False, False, False, False, False, False, False, False  ...................... [KO]
SSW CAN5             : False, False, False, False, False, False, False, False  ...................... [KO]
SSW CAN6             : False, False, False, False, False, False, False, False  ...................... [KO]
SSW CAN7             : False, False, False, False, False, False, False, False  ...................... [KO]
SSW CAN8             : False, False, False, False, False, False, False, False  ...................... [KO]
SSW SAFEOUT          : False, False, False, False, False, False, False, False  ...................... [KO]
SCW SAFEIN_1         : False, False, False, False, False, False, False, False  ...................... [KO]
Peripheral           : False, False, False, False, False, False  .................................... [KO]
VelocityModeSW       : internal_limit_active: False ................................................. [KO]
VelocityModeCW       : enable_ramp: False, unlock_ramp: False, reference_ramp: False, halt: False ... [KO]
Polarity             : velocity_polarity: False, position_polarity: False ........................... [KO]
TargetVelocity       : 0 ............................................................................ [KO]
VelocityDemand       : 0 ............................................................................ [KO]
VelocityActualValue  : 0 ............................................................................ [KO]
PositionValue        : 0 ............................................................................ [KO]
OdometryValue        : 0 ............................................................................ [KO]

PDS                  : OPERATION_ENABLED  ........................................................... [KO]
PDS State            : NOT_READY_TO_SWITCH_ON  ...................................................... [KO]

$ ./remote.py swd_left
SYSTEMCTL_dbus.id detected
DBUS Instance        : swd_left ..................................................................... [OK]
Node ID              : 0x0 .......................................................................... [KO]
Vendor-Id            : 0x0 .......................................................................... [KO]
Product code         : 0x0 .......................................................................... [KO]
Serial number        : 0 ............................................................................ [KO]
Revision number      : 0 ............................................................................ [KO]
SWVersion            :  ............................................................................. [KO]
HWVersion            :  ............................................................................. [KO]
Calibrated           : False ........................................................................ [KO]
SRDO validity        : False ........................................................................ [KO]
NMT State            : UNKNOWN  ..................................................................... [OK]
PDS State            : NOT_READY_TO_SWITCH_ON  ...................................................... [KO]
NbError              : 0 ............................................................................ [KO]
LastError            : 0 : Error_reset_or_no_error .................................................. [OK]
SystemError          : EZW_PROTECT_NONE EZW_PROTECT_NONE  ........................................... [KO]
SSW CAN1             : False, False, False, False, False, False, False, False  ...................... [KO]
SSW CAN2             : False, False, False, False, False, False, False, False  ...................... [KO]
SSW CAN3             : False, False, False, False, False, False, False, False  ...................... [KO]
SSW CAN4             : False, False, False, False, False, False, False, False  ...................... [KO]
SSW CAN5             : False, False, False, False, False, False, False, False  ...................... [KO]
SSW CAN6             : False, False, False, False, False, False, False, False  ...................... [KO]
SSW CAN7             : False, False, False, False, False, False, False, False  ...................... [KO]
SSW CAN8             : False, False, False, False, False, False, False, False  ...................... [KO]
SSW SAFEOUT          : False, False, False, False, False, False, False, False  ...................... [KO]
SCW SAFEIN_1         : False, False, False, False, False, False, False, False  ...................... [KO]
Peripheral           : False, False, False, False, False, False  .................................... [KO]
VelocityModeSW       : internal_limit_active: False ................................................. [KO]
VelocityModeCW       : enable_ramp: False, unlock_ramp: False, reference_ramp: False, halt: False ... [KO]
Polarity             : velocity_polarity: False, position_polarity: False ........................... [KO]
TargetVelocity       : 0 ............................................................................ [KO]
VelocityDemand       : 0 ............................................................................ [KO]
VelocityActualValue  : 0 ............................................................................ [KO]
PositionValue        : 0 ............................................................................ [KO]
OdometryValue        : 0 ............................................................................ [KO]
GMezWheel commented 2 years ago

Indeed, the both motors have the same nodeId. => 0x10 => HB=710

The solution is : 1) power off left motor. 2) modifying /opt/ezw/usr/etc/ezw-smc-core/swd_right_config.ini with nodeId = 16 and restart ezw-smc-service right 3) commissioning right motor 4) modifying /opt/ezw/usr/etc/ezw-smc-core/swd_right_config.ini with nodeId = 5 5) power on left motor. 6) modifying /opt/ezw/usr/etc/ezw-smc-core/swd_left_config.ini with nodeId = 16 and restart ezw-smc-service left 7) commissioning left motor 8) modifying /opt/ezw/usr/etc/ezw-smc-core/swd_left_config.ini with nodeId = 4

fig-shimooka commented 2 years ago

The script was run with the left motor switched off. The result was successful.

$ python3 swd_left_4_commissioning.py SYSTEMCTL_dbus.id detected create_dbus_clients(swd_left) : OK Restore factory parameters : OK Reset to apply parameters : OK setNetworkParameters(node_id=4) : OK setTPDOCommunicationParameters(PDOId.PDO_1) : OK setTPDOCommunicationParameters(PDOId.PDO_2) : OK setTPDOCommunicationParameters(PDOId.PDO_3) : OK setTPDOCommunicationParameters(PDOId.PDO_4) : OK setRPDOCommunicationParameters(PDOId.PDO_1) : OK setRPDOCommunicationParameters(PDOId.PDO_2) : OK setRPDOCommunicationParameters(PDOId.PDO_3) : OK setRPDOCommunicationParameters(PDOId.PDO_4) : OK setPolarityParameters(True) : OK getSRDOParameters(SRDO_1) : OK setSRDOParameters(SRDO_1) : OK getSRDOParameters(SRDO_2) : OK setSRDOParameters(SRDO_2) : OK getSRDOParameters(SRDO_9) : OK setSRDOParameters(SRDO_9) : OK getSRDOParameters(SRDO_10) : OK setSRDOParameters(SRDO_10) : OK getSRDOParameters(SRDO_11) : OK setSRDOParameters(SRDO_11) : OK getSRDOParameters(SRDO_12) : OK setSRDOParameters(SRDO_12) : OK getSRDOParameters(SRDO_13) : OK setSRDOParameters(SRDO_13) : OK getSRDOParameters(SRDO_14) : OK setSRDOParameters(SRDO_14) : OK getSRDOParameters(SRDO_15) : OK setSRDOParameters(SRDO_15) : OK getSRDOParameters(SRDO_16) : OK setSRDOParameters(SRDO_16) : OK setSRDOConfigurationValidity() : OK setSRDOParameters(SRDOId.SRDO_9) : OK setSafetyControlWordMapping() : OK setSRDOParameters(SRDOId.SRDO_16) : OK setSafetyControlWordMapping() : OK setSRDOConfigurationValidity() : OK getVelocityModeParameters() : OK setVelocityParameters() : OK getSTOParameters(STOId.STO_1) : OK setSTOParameters(STOId.STO_1) : OK getLSParameters(SLSId.SLS_1) : OK setSLSParameters(SLSId.SLS_1) : OK storeParameters : OK setNMTState : OK

Commissioning succeeded !