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poppy-project / poppy-humanoid

Poppy Humanoid is an open-source and 3D printed humanoid robot. Optimized for research and education purposes, its modularity allows for a wide range of applications and experimentations.
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Error while connecting the Poppy Humanoid robot to the PC #35

Closed shashankboosi closed 2 years ago

shashankboosi commented 6 years ago

Hello there,

I tried many ways and I finally am able to ping the robot in my PC. I used http://poppy.local and I was able to open the web interface. I am trying to run the robot on Windows platform on my PC but the odroid board in the robot has a Ubuntu Linux platform. I tried to link the humanoid with my PC using the ethernet cable via a switch and I was able to ping the IP address of the robot from the PC. only when I type http://10.118.18.89/ I get the following web interface which seems to be working

poppy_home

but if I type http://poppy.local I got an error message saying the following

7f1aa306bcc754faa97a50c41edd49615eaf4f58_1_690x431

But I ignored the poppy.local link and I have approached the web interface using the IP address. If I go to python terminal, it says connection failed. And I got these errors in the log file of web interface:

Logs:

No handlers could be found for logger "poppy.creatures.abstractcreature" Attempt 1 to start the robot… [Errno 16] could not open port /dev/ttyACM1: [Errno 16] Device or resource busy: '/dev/ttyACM1’ Attempt 2 to start the robot… [Errno 16] could not open port /dev/ttyACM1: [Errno 16] Device or resource busy: '/dev/ttyACM1’ Attempt 3 to start the robot… Connection to the robot failed! No suitable port found for ids [31, 32, 33, 34, 35, 36, 37, 41, 42, 43, 44, 51, 52, 53, 54]. These ids are missing [32, 33, 34, 35, 36, 37, 41, 42, 43, 44, 51, 52, 53, 54, 31] ! Attempt 4 to start the robot… Connection to the robot failed! No suitable port found for ids [31, 32, 33, 34, 35, 36, 37, 41, 42, 43, 44, 51, 52, 53, 54]. These ids are missing [32, 33, 34, 35, 36, 37, 41, 42, 43, 44, 51, 52, 53, 54, 31] ! Attempt 5 to start the robot… SnapRobotServer is now running on: http://0.0.0.0:6969

You can open Snap! interface with loaded blocks at “http://snap.berkeley.edu/snapsource/snap.html#open:http://10.104.55.51:6969/snap-blocks.xml”

HTTPRobotServer is now running on: http://0.0.0.0:8080

Robot created and running! tract_io.py", line 357, in my_getter return self._get_control_value(control, ids, **kwargs) File “/home/poppy/.pyenv/versions/2.7.11/lib/python2.7/site-packages/pypot/dynamixel/io/abstract_io.py”, line 412, in _get_control_value sp = self._send_packet(rp, error_handler=error_handler) File “/home/poppy/.pyenv/versions/2.7.11/lib/python2.7/site-packages/pypot/dynamixel/io/abstract_io.py”, line 529, in _send_packet sp = self.real_send(instruction_packet, wait_for_status_packet, _force_lock) File “/home/poppy/.pyenv/versions/2.7.11/lib/python2.7/site-packages/pypot/dynamixel/io/abstract_io.py”, line 494, in real_send status_packet = self.__real_read(instruction_packet, _force_lock=True) File “/home/poppy/.pyenv/versions/2.7.11/lib/python2.7/site-packages/pypot/dynamixel/io/abstract_io.py”, line 505, in __real_read data = self._serial.read(self._protocol.DxlPacketHeader.length) File “/home/poppy/.pyenv/versions/2.7.11/lib/python2.7/site-packages/serial/serialposix.py”, line 495, in read raise SerialException(‘device reports readiness to read but returned no data (device disconnected or multiple access on port?)’) SerialException: device reports readiness to read but returned no data (device disconnected or multiple access on port?)

Exception in thread Thread-1: Traceback (most recent call last): File “/home/poppy/.pyenv/versions/2.7.11/lib/python2.7/threading.py”, line 801, in __bootstrap_inner self.run() File “/home/poppy/.pyenv/versions/2.7.11/lib/python2.7/threading.py”, line 754, in run self.target(*self.args, **self.__kwargs) File “/home/poppy/.pyenv/versions/2.7.11/lib/python2.7/site-packages/pypot/utils/stoppablethread.py”, line 121, in _wrapped_target self._setup() File “/home/poppy/.pyenv/versions/2.7.11/lib/python2.7/site-packages/pypot/dynamixel/syncloop.py”, line 22, in setup [c.start() for c in self.controllers] File “/home/poppy/.pyenv/versions/2.7.11/lib/python2.7/site-packages/pypot/robot/controller.py”, line 25, in start self.wait_to_start() File “/home/poppy/.pyenv/versions/2.7.11/lib/python2.7/site-packages/pypot/utils/stoppablethread.py”, line 86, in wait_to_start ’for details.’.format(self._thread.name)) RuntimeError: Setup failed, see Thread-2 Tracebackfor details.

Attempt 1 to start the robot… [Errno 16] could not open port /dev/ttyACM1: [Errno 16] Device or resource busy: '/dev/ttyACM1’ Attempt 2 to start the robot… Connection to the robot failed! No suitable port found for ids [31, 32, 33, 34, 35, 36, 37, 41, 42, 43, 44, 51, 52, 53, 54]. These ids are missing [31] ! Attempt 3 to start the robot… Connection to the robot failed! No suitable port found for ids [31, 32, 33, 34, 35, 36, 37, 41, 42, 43, 44, 51, 52, 53, 54]. These ids are missing [32, 34, 35, 36, 37, 41, 42, 43, 44, 51, 52, 53, 54, 31] ! Attempt 4 to start the robot… Setup failed, see Thread-1 Tracebackfor details. Attempt 5 to start the robot… Connection to the robot failed! No suitable port found for ids [31, 32, 33, 34, 35, 36, 37, 41, 42, 43, 44, 51, 52, 53, 54]. These ids are missing [32, 33, 34, 35, 36, 37, 41, 42, 43, 44, 51, 52, 53, 54, 31] ! Could not start up the robot… Traceback (most recent call last): File “/home/poppy/.pyenv/versions/2.7.11/bin/poppy-services”, line 9, in load_entry_point(‘poppy-creature==1.8.1’, ‘console_scripts’, ‘poppy-services’)() File “/home/poppy/.pyenv/versions/2.7.11/lib/python2.7/site-packages/poppy/creatures/services_launcher.py”, line 179, in main with closing(start_poppy_with_services(args)): File “/home/poppy/.pyenv/versions/2.7.11/lib/python2.7/site-packages/poppy/creatures/services_launcher.py”, line 38, in start_poppy_with_services raise exc_inst IOError: Connection to the robot failed! No suitable port found for ids [31, 32, 33, 34, 35, 36, 37, 41, 42, 43, 44, 51, 52, 53, 54]. These ids are missing [32, 33, 34, 35, 36, 37, 41, 42, 43, 44, 51, 52, 53, 54, 31] !

Then I decided to go to the ipython notebook not through the web interface of the robot but through the anaconda navigator and I wrote the following code to see what happens

from pypot.creatures import PoppyHumanoid
poppy = PoppyHumanoid()

Then I got the following errors in the log:

Attempt 1 to start the robot… Could not initalize robot: Cannot configure port, something went wrong. Original message: WindowsError(87, ‘The parameter is incorrect.’) Attempt 2 to start the robot… Could not initalize robot: Cannot configure port, something went wrong. Original message: WindowsError(87, ‘The parameter is incorrect.’) Attempt 3 to start the robot… Could not initalize robot: Cannot configure port, something went wrong. Original message: WindowsError(87, ‘The parameter is incorrect.’) Attempt 4 to start the robot… Could not initalize robot: Cannot configure port, something went wrong. Original message: WindowsError(87, ‘The parameter is incorrect.’) Attempt 5 to start the robot… Could not initalize robot: Cannot configure port, something went wrong. Original message: WindowsError(87, ‘The parameter is incorrect.’) Could not start up the robot…

OSErrorTraceback (most recent call last) in () ----> 1 poppy = PoppyHumanoid()

C:\Users\sboosi\AppData\Local\Continuum\anaconda2\lib\site-packages\pypot\creatures\abstractcreature.pyc in new(cls, base_path, config, simulator, scene, host, port, id, use_snap, snap_host, snap_port, snap_quiet, use_http, http_host, http_port, http_quiet, use_remote, remote_host, remote_port, use_ws, ws_host, ws_port, start_background_services, sync, **extra) 123 124 else: –> 125 raise OSError('Could not initalize robot: {} '.format(exc_inst)) 126 poppy_creature.simulated = False 127

OSError: Could not initalize robot: Cannot configure port, something went wrong. Original message: WindowsError(87, ‘The parameter is incorrect.’)

So the problem is that, I am not able to operate the web interface properly and I am getting all sorts of errors. Even the odroid board blinks with a blue light, does that mean something? Because blue light in Rasberry pi means the core is crashed.

Even sometimes I get this error where it says multiple access on ports It also says, the data is received by the robot but cannot be sent back to the PC.

I hope I have explained my doubt. If not please let me know Any insights into this will be appreciated.

Thanks in advance for the help.

ymollard commented 2 years ago

Closing old issues (please use the forum to ask for help)