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heuristicus / spot_ros

ROS driver for controlling Boston Dynamics' Spot robot
https://heuristicus.github.io/spot_ros/
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Several nodes not loading on driver launch #135

Closed Sibren202 closed 1 year ago

Sibren202 commented 1 year ago

When launching the driver I get several error of nodes not loading, including twist, cmd_vel, and more. After running the rviz I am able to succesfully power on and claim lease, however sending messages to these topics does not work and gives a time-out error in the terminal. Im trying to figure out why launching the driver does not verify the nodes. Have re cloned and built the git a thousand times already but cant seem to find the issue...

heuristicus commented 1 year ago

What version of the driver do you have on the robot, and what version of the SDK on the computer you're running the driver with?

Sibren202 commented 1 year ago

Sorry should have put that in there first time. Think I'm using 3.2.3 for both? Could a version mismatch be the cause of the error?

heuristicus commented 1 year ago

It's possible that if you were using a really old version it wouldn't work, but if you're on anything above version 3 it should be fine.

What do you mean by a timeout error? Is it an error from the driver itself, ROS, or an error that's forwarded from the SDK? Are you able to use sit/stand/self-right/roll over and so on? If you use the rviz interface, can you use the 2d nav goal to move the robot?

There have been a few reports of issues with cmd_vel https://github.com/heuristicus/spot_ros/issues/96, but it seemed to be an issue with timings which I fixed. Perhaps the fix didn't actually work.

heuristicus commented 1 year ago

Perhaps related to #74?

Sibren202 commented 1 year ago

[ERROR] [1683799282.850639]: Unable to execute robot command: bosdyn.api.RobotCommandResponse (ExpiredError): The command was received after its max_duration had already passed.

This the exact error when I try to send a message to cmd_vel or twist. Sending to go_to_pose works fine and Spot moves. And yes 2d nav goals in rviz works.

heuristicus commented 1 year ago

OK, this definitely look like a duplicate of #74 then. I'm going to close this issue. Could you write in that issue what exactly your system setup is in terms of what machine you're running the driver on, how it's connected to the robot, and so on?

Sibren202 commented 1 year ago

Yes definitely thanks for the quick response!