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husky / husky_robot

Robot (Hardware) packages for the Clearpath Husky
http://wiki.ros.org/Robots/Husky
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Unable establish communication with MCU #33

Closed adamanov closed 10 months ago

adamanov commented 10 months ago

Please provide the following information:.

by launching husky_node is gives me an error, due to not able to connect to MCU

not able to establish communication with MCU

I tried to another FTDI cable but still could not resolve the problem..

The MCU USB cable has a chip on it, and its light is green.

I hope you can help to to resolve the problem. Thanks in advance.

process[joy_teleop/joy_node-7]: started with pid [7736]
process[joy_teleop/teleop_twist_joy-8]: started with pid [7742]
process[twist_marker_server-9]: started with pid [7745]
process[twist_mux-10]: started with pid [7755]
process[diagnostic_aggregator-11]: started with pid [7760]
Unable to open /dev/prolific
EXCEPTION: TransportException 2: Failed to open serial port
terminate called after throwing an instance of 'clearpath::TransportException*'
[ERROR] [1703009335.910651346]: Couldn't open joystick /dev/input/js0. Will retry every second.
[ INFO] [1703009335.911333231]: [twist_marker_server] Initialized.
[husky_node-4] process has died [pid 7724, exit code -6, cmd /opt/ros/noetic/lib/husky_base/husky_node __name:=husky_node __log:=/home/husky/.ros/log/145088fe-9e94-11ee-ac40-51adccc721c3/husky_node-4.log].
log file: /home/husky/.ros/log/145088fe-9e94-11ee-ac40-51adccc721c3/husky_node-4*.log

Some additional outputs:

husky@prodigies:~$ lsusb
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 020: ID 046d:c534 Logitech, Inc. Unifying Receiver
Bus 001 Device 022: ID 057c:8503 AVM GmbH FRITZ!WLAN AC 860
Bus 001 Device 038: ID 067b:2303 Prolific Technology, Inc. PL2303 Serial Port
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

husky@prodigies:~$ sudo udevadm info --attribute-walk /dev/prolific

Udevadm info starts with the device specified by the devpath and then
walks up the chain of parent devices. It prints for every device
found, all possible attributes in the udev rules key format.
A rule to match, can be composed by the attributes of the device
and the attributes from one single parent device.

  looking at device '/devices/pci0000:00/0000:00:14.0/usb1/1-12':
    KERNEL=="1-12"
    SUBSYSTEM=="usb"
    DRIVER=="usb"
    ATTR{bMaxPower}=="100mA"
    ATTR{devnum}=="38"
    ATTR{tx_lanes}=="1"
    ATTR{ltm_capable}=="no"
    ATTR{bDeviceSubClass}=="00"
    ATTR{version}==" 1.10"
    ATTR{bMaxPacketSize0}=="64"
    ATTR{speed}=="12"
    ATTR{bNumInterfaces}==" 1"
    ATTR{manufacturer}=="Prolific Technology Inc. "
    ATTR{busnum}=="1"
    ATTR{idVendor}=="067b"
    ATTR{product}=="USB-Serial Controller D"
    ATTR{bcdDevice}=="0400"
    ATTR{avoid_reset_quirk}=="0"
    ATTR{maxchild}=="0"
    ATTR{quirks}=="0x0"
    ATTR{bNumConfigurations}=="1"
    ATTR{devpath}=="12"
    ATTR{idProduct}=="2303"
    ATTR{bConfigurationValue}=="1"
    ATTR{configuration}==""
    ATTR{rx_lanes}=="1"
    ATTR{bDeviceClass}=="00"
    ATTR{urbnum}=="21"
    ATTR{bDeviceProtocol}=="00"
    ATTR{removable}=="removable"
    ATTR{authorized}=="1"
    ATTR{bmAttributes}=="80"

  looking at parent device '/devices/pci0000:00/0000:00:14.0/usb1':
    KERNELS=="usb1"
    SUBSYSTEMS=="usb"
    DRIVERS=="usb"
    ATTRS{devpath}=="0"
    ATTRS{maxchild}=="16"
    ATTRS{bmAttributes}=="e0"
    ATTRS{idVendor}=="1d6b"
    ATTRS{bDeviceSubClass}=="00"
    ATTRS{manufacturer}=="Linux 5.15.0-91-generic xhci-hcd"
    ATTRS{bDeviceProtocol}=="01"
    ATTRS{rx_lanes}=="1"
    ATTRS{interface_authorized_default}=="1"
    ATTRS{tx_lanes}=="1"
    ATTRS{quirks}=="0x0"
    ATTRS{serial}=="0000:00:14.0"
    ATTRS{configuration}==""
    ATTRS{removable}=="unknown"
    ATTRS{bDeviceClass}=="09"
    ATTRS{bNumConfigurations}=="1"
    ATTRS{bNumInterfaces}==" 1"
    ATTRS{avoid_reset_quirk}=="0"
    ATTRS{bMaxPower}=="0mA"
    ATTRS{idProduct}=="0002"
    ATTRS{speed}=="480"
    ATTRS{version}==" 2.00"
    ATTRS{ltm_capable}=="no"
    ATTRS{authorized_default}=="1"
    ATTRS{busnum}=="1"
    ATTRS{bcdDevice}=="0515"
    ATTRS{bConfigurationValue}=="1"
    ATTRS{urbnum}=="828"
    ATTRS{authorized}=="1"
    ATTRS{product}=="xHCI Host Controller"
    ATTRS{devnum}=="1"
    ATTRS{bMaxPacketSize0}=="64"

  looking at parent device '/devices/pci0000:00/0000:00:14.0':
    KERNELS=="0000:00:14.0"
    SUBSYSTEMS=="pci"
    DRIVERS=="xhci_hcd"
    ATTRS{broken_parity_status}=="0"
    ATTRS{revision}=="0x11"
    ATTRS{vendor}=="0x8086"
    ATTRS{msi_bus}=="1"
    ATTRS{index}=="4"
    ATTRS{consistent_dma_mask_bits}=="64"
    ATTRS{ari_enabled}=="0"
    ATTRS{driver_override}=="(null)"
    ATTRS{label}=="Onboard - Other"
    ATTRS{device}=="0x7ae0"
    ATTRS{subsystem_vendor}=="0x1043"
    ATTRS{d3cold_allowed}=="1"
    ATTRS{enable}=="1"
    ATTRS{local_cpus}=="ffffff"
    ATTRS{dbc}=="disabled"
    ATTRS{class}=="0x0c0330"
    ATTRS{irq}=="126"
    ATTRS{local_cpulist}=="0-23"
    ATTRS{dma_mask_bits}=="64"
    ATTRS{numa_node}=="-1"
    ATTRS{subsystem_device}=="0x886e"
    ATTRS{power_state}=="D0"

  looking at parent device '/devices/pci0000:00':
    KERNELS=="pci0000:00"
    SUBSYSTEMS==""
    DRIVERS==""
    ATTRS{waiting_for_supplier}=="0"

husky@prodigies:~$ 

usky@prodigies:~$ ls -l /dev 
total 0
crw-r--r--   1 root  root     10, 235 Dez 19 18:18 autofs
drwxr-xr-x   2 root  root         260 Dez 19 18:27 block
drwxr-xr-x   2 root  root          60 Dez 19 18:27 bsg
crw-------   1 root  root     10, 234 Dez 19 18:18 btrfs-control
drwxr-xr-x   3 root  root          60 Dez 19 18:18 bus
drwxr-xr-x   2 root  root        5200 Dez 19 19:10 char
crw--w----   1 root  tty       5,   1 Dez 19 18:18 console
lrwxrwxrwx   1 root  root          11 Dez 19 18:18 core -> /proc/kcore
drwxr-xr-x  26 root  root         520 Dez 19 18:18 cpu
crw-------   1 root  root     10, 124 Dez 19 18:18 cpu_dma_latency
crw-------   1 root  root     10, 203 Dez 19 18:18 cuse
drwxr-xr-x   7 root  root         140 Dez 19 18:18 disk
drwxr-xr-x   2 root  root          60 Dez 19 18:18 dma_heap
drwxr-xr-x   3 root  root         100 Dez 19 18:18 dri
crw-------   1 root  root    237,   0 Dez 19 18:18 drm_dp_aux0
crw-------   1 root  root    237,   1 Dez 19 18:18 drm_dp_aux1
crw-------   1 root  root    237,   2 Dez 19 18:18 drm_dp_aux2
crw-------   1 root  root     10, 126 Dez 19 18:18 ecryptfs
crw-rw----   1 root  video    29,   0 Dez 19 18:18 fb0
lrwxrwxrwx   1 root  root          13 Dez 19 18:18 fd -> /proc/self/fd
crw-rw-rw-   1 root  root      1,   7 Dez 19 18:18 full
crw-rw-rw-   1 root  root     10, 229 Dez 19 18:18 fuse
crw-------   1 root  root    254,   0 Dez 19 18:18 gpiochip0
crw-------   1 root  root    236,   0 Dez 19 18:27 hidraw0
crw-------   1 root  root    236,   1 Dez 19 18:27 hidraw1
crw-------   1 root  root    236,   2 Dez 19 18:27 hidraw2
crw-------   1 root  root    236,   3 Dez 19 18:27 hidraw3
crw-------   1 root  root     10, 228 Dez 19 18:18 hpet
drwxr-xr-x   2 root  root           0 Dez 19 18:18 hugepages
crw-------   1 root  root     10, 183 Dez 19 18:18 hwrng
crw-------   1 root  root     89,   0 Dez 19 18:18 i2c-0
crw-------   1 root  root     89,   1 Dez 19 18:18 i2c-1
crw-------   1 root  root     89,  10 Dez 19 18:18 i2c-10
crw-------   1 root  root     89,  11 Dez 19 18:18 i2c-11
crw-------   1 root  root     89,  12 Dez 19 18:18 i2c-12
crw-------   1 root  root     89,   2 Dez 19 18:18 i2c-2
crw-------   1 root  root     89,   3 Dez 19 18:18 i2c-3
crw-------   1 root  root     89,   4 Dez 19 18:18 i2c-4
crw-------   1 root  root     89,   5 Dez 19 18:18 i2c-5
crw-------   1 root  root     89,   6 Dez 19 18:18 i2c-6
crw-------   1 root  root     89,   7 Dez 19 18:18 i2c-7
crw-------   1 root  root     89,   8 Dez 19 18:18 i2c-8
crw-------   1 root  root     89,   9 Dez 19 18:18 i2c-9
lrwxrwxrwx   1 root  root          12 Dez 19 18:18 initctl -> /run/initctl
drwxr-xr-x   4 root  root         580 Dez 19 18:27 input
crw-r--r--   1 root  root      1,  11 Dez 19 18:18 kmsg
crw-rw----+  1 root  kvm      10, 232 Dez 19 18:18 kvm
lrwxrwxrwx   1 root  root          28 Dez 19 18:18 log -> /run/systemd/journal/dev-log
brw-rw----   1 root  disk      7,   0 Dez 19 18:18 loop0
brw-rw----   1 root  disk      7,   1 Dez 19 18:18 loop1
brw-rw----   1 root  disk      7,   2 Dez 19 18:18 loop2
brw-rw----   1 root  disk      7,   3 Dez 19 18:18 loop3
brw-rw----   1 root  disk      7,   4 Dez 19 18:18 loop4
brw-rw----   1 root  disk      7,   5 Dez 19 18:18 loop5
brw-rw----   1 root  disk      7,   6 Dez 19 18:18 loop6
brw-rw----   1 root  disk      7,   7 Dez 19 18:18 loop7
crw-rw----   1 root  disk     10, 237 Dez 19 18:18 loop-control
drwxr-xr-x   2 root  root          60 Dez 19 18:18 mapper
crw-------   1 root  root     10, 227 Dez 19 18:18 mcelog
crw-------   1 root  root    240,   0 Dez 19 18:18 mei0
crw-r-----   1 root  kmem      1,   1 Dez 19 18:18 mem
drwxrwxrwt   2 root  root          40 Dez 19 18:18 mqueue
drwxr-xr-x   2 root  root          60 Dez 19 18:18 net
crw-rw-rw-   1 root  root      1,   3 Dez 19 18:18 null
crw-------   1 root  root     10, 144 Dez 19 18:18 nvram
crw-r-----   1 root  kmem      1,   4 Dez 19 18:18 port
crw-------   1 root  root    108,   0 Dez 19 18:18 ppp
crw-------   1 root  root    247,   0 Dez 19 18:18 pps0
crw-------   1 root  root    247,   1 Dez 19 18:18 pps1
lrwxrwxrwx   1 root  root          15 Dez 19 19:10 prolific -> bus/usb/001/037
lrwxrwxrwx   1 root  root          15 Dez 19 19:10 prolific_9 -> bus/usb/001/037
crw-------   1 root  root     10,   1 Dez 19 18:18 psaux
crw-rw-rw-   1 root  tty       5,   2 Dez 19 19:16 ptmx
crw-------   1 root  root    246,   0 Dez 19 18:18 ptp0
crw-------   1 root  root    246,   1 Dez 19 18:18 ptp1
drwxr-xr-x   2 root  root           0 Dez 19 18:18 pts
crw-rw-rw-   1 root  root      1,   8 Dez 19 18:18 random
crw-rw-r--+  1 root  root     10, 242 Dez 19 18:18 rfkill
lrwxrwxrwx   1 root  root           4 Dez 19 18:18 rtc -> rtc0
crw-------   1 root  root    248,   0 Dez 19 18:18 rtc0
brw-rw----   1 root  disk      8,   0 Dez 19 18:18 sda
brw-rw----   1 root  disk      8,   1 Dez 19 18:18 sda1
brw-rw----   1 root  disk      8,   2 Dez 19 18:18 sda2
drwxr-xr-x   4 root  root          80 Dez 19 19:10 serial
crw-rw----   1 root  disk     21,   0 Dez 19 18:18 sg0
drwxrwxrwt   2 root  root          40 Dez 19 18:18 shm
crw-------   1 root  root     10, 231 Dez 19 18:18 snapshot
drwxr-xr-x   3 root  root         480 Dez 19 18:18 snd
lrwxrwxrwx   1 root  root          15 Dez 19 18:18 stderr -> /proc/self/fd/2
lrwxrwxrwx   1 root  root          15 Dez 19 18:18 stdin -> /proc/self/fd/0
lrwxrwxrwx   1 root  root          15 Dez 19 18:18 stdout -> /proc/self/fd/1
crw-rw-rw-   1 root  tty       5,   0 Dez 19 19:04 tty
crw--w----   1 root  tty       4,   0 Dez 19 18:18 tty0
crw--w----   1 root  tty       4,   1 Dez 19 18:18 tty1
crw--w----   1 root  tty       4,  10 Dez 19 18:18 tty10
crw--w----   1 root  tty       4,  11 Dez 19 18:18 tty11
crw--w----   1 root  tty       4,  12 Dez 19 18:18 tty12
crw--w----   1 root  tty       4,  13 Dez 19 18:18 tty13
crw--w----   1 root  tty       4,  14 Dez 19 18:18 tty14
crw--w----   1 root  tty       4,  15 Dez 19 18:18 tty15
crw--w----   1 root  tty       4,  16 Dez 19 18:18 tty16
crw--w----   1 root  tty       4,  17 Dez 19 18:18 tty17
crw--w----   1 root  tty       4,  18 Dez 19 18:18 tty18
crw--w----   1 root  tty       4,  19 Dez 19 18:18 tty19
crw--w----   1 husky tty       4,   2 Dez 19 18:18 tty2
crw--w----   1 root  tty       4,  20 Dez 19 18:18 tty20
crw--w----   1 root  tty       4,  21 Dez 19 18:18 tty21
crw--w----   1 root  tty       4,  22 Dez 19 18:18 tty22
crw--w----   1 root  tty       4,  23 Dez 19 18:18 tty23
crw--w----   1 root  tty       4,  24 Dez 19 18:18 tty24
crw--w----   1 root  tty       4,  25 Dez 19 18:18 tty25
crw--w----   1 root  tty       4,  26 Dez 19 18:18 tty26
crw--w----   1 root  tty       4,  27 Dez 19 18:18 tty27
crw--w----   1 root  tty       4,  28 Dez 19 18:18 tty28
crw--w----   1 root  tty       4,  29 Dez 19 18:18 tty29
crw--w----   1 root  tty       4,   3 Dez 19 18:18 tty3
crw--w----   1 root  tty       4,  30 Dez 19 18:18 tty30
crw--w----   1 root  tty       4,  31 Dez 19 18:18 tty31
crw--w----   1 root  tty       4,  32 Dez 19 18:18 tty32
crw--w----   1 root  tty       4,  33 Dez 19 18:18 tty33
crw--w----   1 root  tty       4,  34 Dez 19 18:18 tty34
crw--w----   1 root  tty       4,  35 Dez 19 18:18 tty35
crw--w----   1 root  tty       4,  36 Dez 19 18:18 tty36
crw--w----   1 root  tty       4,  37 Dez 19 18:18 tty37
crw--w----   1 root  tty       4,  38 Dez 19 18:18 tty38
crw--w----   1 root  tty       4,  39 Dez 19 18:18 tty39
crw--w----   1 root  tty       4,   4 Dez 19 18:18 tty4
crw--w----   1 root  tty       4,  40 Dez 19 18:18 tty40
crw--w----   1 root  tty       4,  41 Dez 19 18:18 tty41
crw--w----   1 root  tty       4,  42 Dez 19 18:18 tty42
crw--w----   1 root  tty       4,  43 Dez 19 18:18 tty43
crw--w----   1 root  tty       4,  44 Dez 19 18:18 tty44
crw--w----   1 root  tty       4,  45 Dez 19 18:18 tty45
crw--w----   1 root  tty       4,  46 Dez 19 18:18 tty46
crw--w----   1 root  tty       4,  47 Dez 19 18:18 tty47
crw--w----   1 root  tty       4,  48 Dez 19 18:18 tty48
crw--w----   1 root  tty       4,  49 Dez 19 18:18 tty49
crw--w----   1 root  tty       4,   5 Dez 19 18:18 tty5
crw--w----   1 root  tty       4,  50 Dez 19 18:18 tty50
crw--w----   1 root  tty       4,  51 Dez 19 18:18 tty51
crw--w----   1 root  tty       4,  52 Dez 19 18:18 tty52
crw--w----   1 root  tty       4,  53 Dez 19 18:18 tty53
crw--w----   1 root  tty       4,  54 Dez 19 18:18 tty54
crw--w----   1 root  tty       4,  55 Dez 19 18:18 tty55
crw--w----   1 root  tty       4,  56 Dez 19 18:18 tty56
crw--w----   1 root  tty       4,  57 Dez 19 18:18 tty57
crw--w----   1 root  tty       4,  58 Dez 19 18:18 tty58
crw--w----   1 root  tty       4,  59 Dez 19 18:18 tty59
crw--w----   1 root  tty       4,   6 Dez 19 18:18 tty6
crw--w----   1 root  tty       4,  60 Dez 19 18:18 tty60
crw--w----   1 root  tty       4,  61 Dez 19 18:18 tty61
crw--w----   1 root  tty       4,  62 Dez 19 18:18 tty62
crw--w----   1 root  tty       4,  63 Dez 19 18:18 tty63
crw--w----   1 root  tty       4,   7 Dez 19 18:18 tty7
crw--w----   1 root  tty       4,   8 Dez 19 18:18 tty8
crw--w----   1 root  tty       4,   9 Dez 19 18:18 tty9
crw-------   1 root  root      5,   3 Dez 19 18:18 ttyprintk
crw-rw----   1 root  dialout   4,  64 Dez 19 18:18 ttyS0
crw-rw----   1 root  dialout   4,  65 Dez 19 18:18 ttyS1
crw-rw----   1 root  dialout   4,  74 Dez 19 18:18 ttyS10
crw-rw----   1 root  dialout   4,  75 Dez 19 18:18 ttyS11
crw-rw----   1 root  dialout   4,  76 Dez 19 18:18 ttyS12
crw-rw----   1 root  dialout   4,  77 Dez 19 18:18 ttyS13
crw-rw----   1 root  dialout   4,  78 Dez 19 18:18 ttyS14
crw-rw----   1 root  dialout   4,  79 Dez 19 18:18 ttyS15
crw-rw----   1 root  dialout   4,  80 Dez 19 18:18 ttyS16
crw-rw----   1 root  dialout   4,  81 Dez 19 18:18 ttyS17
crw-rw----   1 root  dialout   4,  82 Dez 19 18:18 ttyS18
crw-rw----   1 root  dialout   4,  83 Dez 19 18:18 ttyS19
crw-rw----   1 root  dialout   4,  66 Dez 19 18:18 ttyS2
crw-rw----   1 root  dialout   4,  84 Dez 19 18:18 ttyS20
crw-rw----   1 root  dialout   4,  85 Dez 19 18:18 ttyS21
crw-rw----   1 root  dialout   4,  86 Dez 19 18:18 ttyS22
crw-rw----   1 root  dialout   4,  87 Dez 19 18:18 ttyS23
crw-rw----   1 root  dialout   4,  88 Dez 19 18:18 ttyS24
crw-rw----   1 root  dialout   4,  89 Dez 19 18:18 ttyS25
crw-rw----   1 root  dialout   4,  90 Dez 19 18:18 ttyS26
crw-rw----   1 root  dialout   4,  91 Dez 19 18:18 ttyS27
crw-rw----   1 root  dialout   4,  92 Dez 19 18:18 ttyS28
crw-rw----   1 root  dialout   4,  93 Dez 19 18:18 ttyS29
crw-rw----   1 root  dialout   4,  67 Dez 19 18:18 ttyS3
crw-rw----   1 root  dialout   4,  94 Dez 19 18:18 ttyS30
crw-rw----   1 root  dialout   4,  95 Dez 19 18:18 ttyS31
crw-rw----   1 root  dialout   4,  68 Dez 19 18:18 ttyS4
crw-rw----   1 root  dialout   4,  69 Dez 19 18:18 ttyS5
crw-rw----   1 root  dialout   4,  70 Dez 19 18:18 ttyS6
crw-rw----   1 root  dialout   4,  71 Dez 19 18:18 ttyS7
crw-rw----   1 root  dialout   4,  72 Dez 19 18:18 ttyS8
crw-rw----   1 root  dialout   4,  73 Dez 19 18:18 ttyS9
crw-rw-rw-   1 root  dialout 188,   0 Dez 19 19:10 ttyUSB0
crw-rw----   1 root  kvm      10, 125 Dez 19 18:18 udmabuf
crw-------   1 root  root     10, 239 Dez 19 18:18 uhid
crw-rw-rw-   1 root  root     10, 223 Dez 19 18:18 uinput
crw-rw-rw-   1 root  root      1,   9 Dez 19 18:18 urandom
drwxr-xr-x   2 root  root          60 Dez 19 18:27 usb
crw-------   1 root  root     10, 240 Dez 19 18:18 userio
crw-rw----   1 root  tty       7,   0 Dez 19 18:18 vcs
crw-rw----   1 root  tty       7,   1 Dez 19 18:18 vcs1
crw-rw----   1 root  tty       7,   2 Dez 19 18:18 vcs2
crw-rw----   1 root  tty       7,   3 Dez 19 18:18 vcs3
crw-rw----   1 root  tty       7,   4 Dez 19 18:18 vcs4
crw-rw----   1 root  tty       7,   5 Dez 19 18:18 vcs5
crw-rw----   1 root  tty       7,   6 Dez 19 18:18 vcs6
crw-rw----   1 root  tty       7, 128 Dez 19 18:18 vcsa
crw-rw----   1 root  tty       7, 129 Dez 19 18:18 vcsa1
crw-rw----   1 root  tty       7, 130 Dez 19 18:18 vcsa2
crw-rw----   1 root  tty       7, 131 Dez 19 18:18 vcsa3
crw-rw----   1 root  tty       7, 132 Dez 19 18:18 vcsa4
crw-rw----   1 root  tty       7, 133 Dez 19 18:18 vcsa5
crw-rw----   1 root  tty       7, 134 Dez 19 18:18 vcsa6
crw-rw----   1 root  tty       7,  64 Dez 19 18:18 vcsu
crw-rw----   1 root  tty       7,  65 Dez 19 18:18 vcsu1
crw-rw----   1 root  tty       7,  66 Dez 19 18:18 vcsu2
crw-rw----   1 root  tty       7,  67 Dez 19 18:18 vcsu3
crw-rw----   1 root  tty       7,  68 Dez 19 18:18 vcsu4
crw-rw----   1 root  tty       7,  69 Dez 19 18:18 vcsu5
crw-rw----   1 root  tty       7,  70 Dez 19 18:18 vcsu6
drwxr-xr-x   2 root  root          60 Dez 19 18:18 vfio
crw-------   1 root  root     10, 127 Dez 19 18:18 vga_arbiter
crw-------   1 root  root     10, 137 Dez 19 18:18 vhci
crw-------   1 root  root     10, 238 Dez 19 18:18 vhost-net
crw-------   1 root  root     10, 241 Dez 19 18:18 vhost-vsock
crw-rw-rw-   1 root  root      1,   5 Dez 19 18:18 zero
crw-------   1 root  root     10, 249 Dez 19 18:18 zfs
husky@prodigies:~$ groups
husky adm cdrom sudo dip plugdev lpadmin lxd sambashare

Other notes Add anything else you thing is important.

tonybaltovski commented 10 months ago

Can you export HUSKY_PORT=/dev/ttyUSB0 and launch husky_base? Looks like /dev/prolific isn't point to the correct device.

adamanov commented 10 months ago

export HUSKY_PORT=/dev/ttyUSB0

did it, I guess now the port is found but appears the following error, the COMM light on husky is still red colored 

husky@prodigies:~$ export HUSKY_PORT=/dev/ttyUSB0
husky@prodigies:~$ roslaunch startup husky_main.launch 
... logging to /home/husky/.ros/log/a67fb4a2-9f20-11ee-a8fa-c13a5b2109a2/roslaunch-prodigies-6614.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://prodigies:34611/

SUMMARY
========

PARAMETERS
 * /diagnostic_aggregator/analyzers/husky/expected: ['husky_base: pow...
 * /diagnostic_aggregator/analyzers/husky/find_and_remove_prefix: husky_base: 
 * /diagnostic_aggregator/analyzers/husky/path: Husky A200
 * /diagnostic_aggregator/analyzers/husky/timeout: 5.0
 * /diagnostic_aggregator/analyzers/husky/type: diagnostic_aggreg...
 * /husky_node/control_frequency: 10.0
 * /husky_node/diagnostic_frequency: 1.0
 * /husky_node/max_acceleration: 3.0
 * /husky_node/max_speed: 1.0
 * /husky_node/polling_timeout: 10.0
 * /husky_node/port: /dev/ttyUSB0
 * /husky_node/wheel_diameter: 0.3302
 * /robot_description: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /
    diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
    husky_node (husky_base/husky_node)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master
process[master]: started with pid [6670]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to a67fb4a2-9f20-11ee-a8fa-c13a5b2109a2
process[rosout-1]: started with pid [6703]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [6710]
process[husky_node-3]: started with pid [6711]
process[diagnostic_aggregator-4]: started with pid [6712]
EXCEPTION: TransportException 3: Unacknowledged send
[ERROR] [1703067309.072421549]: Error configuring velocity and accel limits: Unacknowledged send
EXCEPTION: TransportException 3: Unacknowledged send
[ERROR] [1703067310.027771866]: Error configuring velocity and accel limits: Unacknowledged send

here is also output of rosnode info husky_nod

husky@prodigies:~$ rosnode info /husky_node
--------------------------------------------------------------------------------
Node [/husky_node]
Publications: 
 * /diagnostics [diagnostic_msgs/DiagnosticArray]
 * /rosout [rosgraph_msgs/Log]

Subscriptions: None

Services: 
 * /husky_node/get_loggers
 * /husky_node/set_logger_level

contacting node http://prodigies:46365/ ...
Pid: 5854
Connections:
 * topic: /rosout
    * to: /rosout
    * direction: outbound (40675 - 127.0.0.1:34516) [13]
    * transport: TCPROS
 * topic: /diagnostics
    * to: /diagnostic_aggregator
    * direction: outbound (40675 - 127.0.0.1:34524) [14]
    * transport: TCPROS
 * topic: /diagnostics
    * to: /rostopic_6069_1703067035322
    * direction: outbound (40675 - 127.0.0.1:40656) [12]
    * transport: TCPROS
adamanov commented 10 months ago

Hello again,

I found that the cable was broken, by changing it and assigning HUSKY_PORT to correct PORT the problem is gone :)

Thanks for help Asan