robot-at-pollen
commented
1 year ago Closed robot-at-pollen closed 1 year ago
robot-at-pollen
commented
1 year ago robot-at-pollen
commented
1 year ago robot-at-pollen
commented
1 year ago 
cdussieux
commented
1 year ago Hardware issue with specific mobile base
reachy@reachy:~$ bash ~/reachy_ws/src/reachy_2023/mobile_base_controller/mobile_base_sdk_server/launch_mobile_base.bash Starting mobile base launch file. [INFO] [launch]: All log files can be found below /home/reachy/.ros/log/2023-03-21-15-44-51-492943-reachy-3988 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [rplidar_scan_publisher-1]: process started with pid [4005] [INFO] [hal-2]: process started with pid [4007] [INFO] [mobile_base_sdk_server-3]: process started with pid [4009] [rplidar_scan_publisher-1] [INFO] [1679409891.706504109] [rplidar_scan_publisher]: RPLIDAR running on ROS2 package rplidar_ros2.ROS2 SDK Version:1.0.1, RPLIDAR SDK Version:2.0.0 [rplidar_scan_publisher-1] [INFO] [1679409891.753944524] [rplidar_scan_publisher]: RPLIDAR S/N: 96A9EC95C1EA9ED0B2E29FF91573467D [rplidar_scan_publisher-1] [INFO] [1679409891.754004737] [rplidar_scan_publisher]: Firmware Ver: 1.01 [rplidar_scan_publisher-1] [INFO] [1679409891.754021547] [rplidar_scan_publisher]: Hardware Rev: 18 [rplidar_scan_publisher-1] [INFO] [1679409891.805179130] [rplidar_scan_publisher]: RPLidar health status : 0 [rplidar_scan_publisher-1] [INFO] [1679409891.805232531] [rplidar_scan_publisher]: RPLidar health status : OK. [hal-2] [INFO] [1679409892.400224701] [zuuu_hal]: Starting zuuu_hal! [hal-2] [INFO] [1679409892.402931320] [zuuu_hal]: Reading Zuuu's sensors once... [hal-2] [INFO] [1679409892.417504114] [zuuu_hal]: The maximum PWM value is 20.0% => maximum wheel speed is set to 4.48rad/s [hal-2] [WARN] [1679409892.451208344] [zuuu_hal]: Battery voltage OK (25.7V) [hal-2] [WARN] [1679409892.463831019] [zuuu_hal]: waiting for a LIDAR scan to be read. Discarding all commands... [mobile_base_sdk_server-3] [INFO] [1679409892.493567763] [mobile_base_server]: Initialized mobile base server. [hal-2] [WARN] [1679409892.967614650] [zuuu_hal]: waiting for a LIDAR scan to be read. Discarding all commands... [hal-2] [WARN] [1679409893.472057556] [zuuu_hal]: waiting for a LIDAR scan to be read. Discarding all commands... [rplidar_scan_publisher-1] [ERROR] [1679409893.853449890] [rplidar_scan_publisher]: Can not start scan: 80008002!