when i am tries to run code of launch

[DearMoeurn12]

i am already connect to dobot and config it to appear green light

Run

ros2 launch dobot_bringup dobot_magician_control_system.launch.py

Error

[INFO] [launch.user]: Loading tool parameters. [set_tool_null-1] [WARN] Dobot Magician is not connected. [ERROR] [set_tool_null-1]: process has died [pid 45099, exit code 1, cmd '/home/dear/dev_ws/install/dobot_bringup/lib/dobot_bringup/set_tool_null --ros-args'].

[jkaniuka]

Hi, check the name of the serial port the robot is connected to and eventually modify it in dobot_handle.py script in dobot_driver package :wink:

[DearMoeurn12]

I already check the port and i still got the same error

Error

[INFO] [launch]: All log files can be found below /home/dear/.ros/log/2023-10-17-09-57-18-698313-Dear-Nx-Gen-8642 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [set_tool_null-1]: process started with pid [8648] [INFO] [launch.user]: Loading tool parameters. [set_tool_null-1] [WARN] Dobot Magician is not connected. [ERROR] [set_tool_null-1]: process has died [pid 8648, exit code 1, cmd '/home/dear/dev_ws/install/dobot_bringup/lib/dobot_bringup/set_tool_null --ros-args']. [INFO] [ros2 launch dobot_diagnostics alarms_analyzer.launch.py-2]: process started with pid [8652] [INFO] [launch.user]: Starting the diagnostics module. [INFO] [gripper_server-3]: process started with pid [8655] [INFO] [launch.user]: Gripper control service started. [INFO] [suction_cup_server-4]: process started with pid [8657] [INFO] [launch.user]: Suction Cup control service started. [gripper_server-3] [WARN] Dobot Magician is not connected. [suction_cup_server-4] [WARN] Dobot Magician is not connected. [ERROR] [gripper_server-3]: process has died [pid 8655, exit code 1, cmd '/home/dear/dev_ws/install/dobot_end_effector/lib/dobot_end_effector/gripper_server --ros-args']. [ERROR] [suction_cup_server-4]: process has died [pid 8657, exit code 1, cmd '/home/dear/dev_ws/install/dobot_end_effector/lib/dobot_end_effector/suction_cup_server --ros-args']. [INFO] [ros2 launch dobot_homing dobot_homing.launch.py-5]: process started with pid [8681] [INFO] [launch.user]: Starting homing service. [INFO] [launch.user]: Loading homing parameters. [ros2 launch dobot_homing dobot_homing.launch.py-5] [INFO] [launch]: All log files can be found below /home/dear/.ros/log/2023-10-17-09-57-21-896166-Dear-Nx-Gen-8683 [ros2 launch dobot_homing dobot_homing.launch.py-5] [INFO] [launch]: Default logging verbosity is set to INFO [ros2 launch dobot_homing dobot_homing.launch.py-5] [INFO] [homing_server-1]: process started with pid [8684] [ros2 launch dobot_homing dobot_homing.launch.py-5] [INFO] [homing_params.yaml-2]: process started with pid [8686] [ros2 launch dobot_homing dobot_homing.launch.py-5] [homing_server-1] [WARN] Dobot Magician is not connected. [ros2 launch dobot_homing dobot_homing.launch.py-5] [ERROR] [homing_server-1]: process has died [pid 8684, exit code 1, cmd '/home/dear/dev_ws/install/dobot_homing/lib/dobot_homing/homing_server --ros-args']. [INFO] [ros2 launch dobot_kinematics dobot_validate_trajectory.launch.py-6]: process started with pid [8692] [INFO] [launch.user]: Strating trajectory validator service. [INFO] [launch.user]: Loading kinematics parameters. [ros2 launch dobot_kinematics dobot_validate_trajectory.launch.py-6] [INFO] [launch]: All log files can be found below /home/dear/.ros/log/2023-10-17-09-57-23-898870-Dear-Nx-Gen-8694 [ros2 launch dobot_kinematics dobot_validate_trajectory.launch.py-6] [INFO] [launch]: Default logging verbosity is set to INFO [ros2 launch dobot_kinematics dobot_validate_trajectory.launch.py-6] [INFO] [trajectory_validator_server-1]: process started with pid [8695] [ros2 launch dobot_kinematics dobot_validate_trajectory.launch.py-6] [INFO] [axis_limits.yaml-2]: process started with pid [8697] [ros2 launch dobot_kinematics dobot_validate_trajectory.launch.py-6] [trajectory_validator_server-1] pybullet build time: Oct 11 2023 16:42:09 [INFO] [ros2 launch dobot_motion dobot_PTP.launch.py-7]: process started with pid [8710] [INFO] [launch.user]: Starting PointToPoint action server. [INFO] [launch.user]: Setting speed and acceleration values. [ros2 launch dobot_motion dobot_PTP.launch.py-7] [INFO] [launch]: All log files can be found below /home/dear/.ros/log/2023-10-17-09-57-25-893479-Dear-Nx-Gen-8712 [ros2 launch dobot_motion dobot_PTP.launch.py-7] [INFO] [launch]: Default logging verbosity is set to INFO [ros2 launch dobot_motion dobot_PTP.launch.py-7] [INFO] [PTP_server-1]: process started with pid [8713] [ros2 launch dobot_motion dobot_PTP.launch.py-7] [INFO] [PTP_motion_params.yaml-2]: process started with pid [8715] [ros2 launch dobot_motion dobot_PTP.launch.py-7] [PTP_server-1] [WARN] Dobot Magician is not connected. [ros2 launch dobot_motion dobot_PTP.launch.py-7] [ERROR] [PTP_server-1]: process has died [pid 8713, exit code 1, cmd '/home/dear/dev_ws/install/dobot_motion/lib/dobot_motion/PTP_server --ros-args']. [ros2 launch dobot_homing dobot_homing.launch.py-5] [homing_params.yaml-2] Node not found [ros2 launch dobot_homing dobot_homing.launch.py-5] [ERROR] [homing_params.yaml-2]: process has died [pid 8686, exit code 1, cmd 'sleep 5;ros2 param load /dobot_homing_srv /home/dear/dev_ws/install/dobot_homing/share/dobot_homing/config/homing_params.yaml']. [INFO] [ros2 launch dobot_homing dobot_homing.launch.py-5]: process has finished cleanly [pid 8681] [ros2 launch dobot_kinematics dobot_validate_trajectory.launch.py-6] [INFO] [axis_limits.yaml-2]: process has finished cleanly [pid 8697] [ros2 launch dobot_motion dobot_PTP.launch.py-7] [PTP_motion_params.yaml-2] Node not found [ros2 launch dobot_motion dobot_PTP.launch.py-7] [ERROR] [PTP_motion_params.yaml-2]: process has died [pid 8715, exit code 1, cmd 'sleep 5;ros2 param load /dobot_PTP_server /home/dear/dev_ws/install/dobot_motion/share/dobot_motion/config/PTP_motion_params.yaml']. [INFO] [ros2 launch dobot_motion dobot_PTP.launch.py-7]: process has finished cleanly [pid 8710] [INFO] [state_publisher-8]: process started with pid [8755] [INFO] [launch.user]: Dobot state updater node started. [INFO] [launch.user]: Dobot Magician control stack has been launched correctly [state_publisher-8] [WARN] Dobot Magician is not connected. [ERROR] [state_publisher-8]: process has died [pid 8755, exit code 1, cmd '/home/dear/dev_ws/install/dobot_state_updater/lib/dobot_state_updater/state_publisher --ros-args'].

[jkaniuka]

Try running just dobot_handle.py and let me know if you get an error

[DearMoeurn12]

Now, it's working when i am running just dobot_handle.py

but for

ros2 launch dobot_bringup dobot_magician_control_system.launch.py

Error

Dobot Magician is not connected it same error as above

[jkaniuka]

As you can see, the Dobot Magician is not connected warning appears when the serial port cannot be opened.

        try:
            self.serial = serial.Serial(
                port=port,
                baudrate=115200,
                parity=serial.PARITY_NONE,
                stopbits=serial.STOPBITS_ONE,
                bytesize=serial.EIGHTBITS
            )
        except:
            print("[WARN] Dobot Magician is not connected.")
            sys.exit(1)

[jkaniuka]

@DearMoeurn12 are you in dialout group? If not, then add yourself to this group (sudo usermod -a -G dialout <username>) :+1:

[DearMoeurn12]

i just already config it because i didn't write permissions to all users. now it's working by just run this in terminal. Run sudo chmod a+rw /dev/ttyUSB0

[jkaniuka]

I'm glad it's working, but the command you mentioned is just a temporary solution. After you restart your computer, you will have to execute this command again, that's why I suggested you to add yourself to dialout group because it's a permanent solution :smile:

[DearMoeurn12]

I appreciate your help, I'll go ahead and add myself to the dialout group for a permanent solution. Thanks for the advice! 😄