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rt-net / crane_plus

CRANE+ V2 ROS 2 Packages
Apache License 2.0
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demo.launch.py実行時にOverload errorが出力される #61

Closed taikiinoue45 closed 1 year ago

taikiinoue45 commented 1 year ago

不具合の概要

rt-net/crane_plus の README の手順に従い CRANE+V2 を動かそうとしています。しかし、以下に記載したエラーログが出力され、CRANE+V2 のグリッパー開閉ができません。

実行環境

再現方法

  1. Source Build
source /opt/ros/humble/setup.bash
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/rt-net/crane_plus.git
rosdep install -r -y -i --from-paths .
cd ~/ros2_ws
colcon build --symlink-install
  1. terminal 0 で demo.launch.py を実行
source ~/ros2_ws/install/setup.bash
ros2 launch crane_plus_examples demo.launch.py port_name:=/dev/ttyUSB0
[INFO] [launch]: All log files can be found below /home/inoue/.ros/log/2023-07-09-17-17-44-536531-nuc-5221
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [move_group-1]: process started with pid [5224]
[INFO] [rviz2-2]: process started with pid [5226]
[INFO] [static_transform_publisher-3]: process started with pid [5228]
[INFO] [robot_state_publisher-4]: process started with pid [5230]
[INFO] [ros2_control_node-5]: process started with pid [5242]
[INFO] [ros2 run controller_manager spawner joint_state_broadcaster-6]: process started with pid [5254]
[INFO] [ros2 run controller_manager spawner crane_plus_arm_controller-7]: process started with pid [5257]
[INFO] [ros2 run controller_manager spawner crane_plus_gripper_controller-8]: process started with pid [5268]
[rviz2-2] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[static_transform_publisher-3] [WARN] [1688890664.950600561] []: Old-style arguments are deprecated; see --help for new-style arguments
[static_transform_publisher-3] [INFO] [1688890664.959859707] [static_transform_publisher]: Spinning until stopped - publishing transform
[static_transform_publisher-3] translation: ('0.000000', '0.000000', '0.000000')
[static_transform_publisher-3] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-3] from 'world' to 'base_link'
[ros2_control_node-5] [INFO] [1688890664.989719348] [resource_manager]: Loading hardware 'crane_plus' 
[ros2_control_node-5] [INFO] [1688890664.990894929] [resource_manager]: Initialize hardware 'crane_plus' 
[move_group-1] [WARN] [1688890665.018655521] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[ros2_control_node-5] [ERROR] [1688890665.071397537] [CranePlusHardware]: torque_enable: dxl_id: 5 :[RxPacketError] Overload error!
[ros2_control_node-5] [INFO] [1688890665.071449705] [resource_manager]: Failed to initialize hardware 'crane_plus'
[ros2_control_node-5] [WARN] [1688890665.071657562] [resource_manager]: hardware 'crane_plus' is in finalized state and can be only destroyed.
[ros2_control_node-5] [INFO] [1688890665.086707783] [controller_manager]: update rate is 100 Hz
[ros2_control_node-5] [INFO] [1688890665.094274933] [controller_manager]: RT kernel is recommended for better performance
[move_group-1] [INFO] [1688890665.106910757] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0846028 seconds
[move_group-1] [INFO] [1688890665.106963556] [moveit_robot_model.robot_model]: Loading robot model 'crane_plus'...
[robot_state_publisher-4] [INFO] [1688890665.122776791] [robot_state_publisher]: got segment base_link
[robot_state_publisher-4] [INFO] [1688890665.132727088] [robot_state_publisher]: got segment crane_plus_base
[robot_state_publisher-4] [INFO] [1688890665.132778872] [robot_state_publisher]: got segment crane_plus_link1
[robot_state_publisher-4] [INFO] [1688890665.132784766] [robot_state_publisher]: got segment crane_plus_link2
[robot_state_publisher-4] [INFO] [1688890665.132789849] [robot_state_publisher]: got segment crane_plus_link3
[robot_state_publisher-4] [INFO] [1688890665.132794937] [robot_state_publisher]: got segment crane_plus_link4
[robot_state_publisher-4] [INFO] [1688890665.132799971] [robot_state_publisher]: got segment crane_plus_link_hand
[robot_state_publisher-4] [INFO] [1688890665.132805486] [robot_state_publisher]: got segment world
[move_group-1] [INFO] [1688890665.316780262] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-1] [INFO] [1688890665.316938028] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-1] [INFO] [1688890665.319251206] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-1] [INFO] [1688890665.320423651] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-1] [INFO] [1688890665.320449998] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-1] [INFO] [1688890665.321316052] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-1] [INFO] [1688890665.321338367] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-1] [INFO] [1688890665.322382591] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-1] [INFO] [1688890665.323185788] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-1] [WARN] [1688890665.323328422] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-1] [ERROR] [1688890665.323340269] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-1] [INFO] [1688890665.410257316] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[rviz2-2] [INFO] [1688890665.417459026] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1688890665.418303740] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[move_group-1] [INFO] [1688890665.422696345] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-1] [INFO] [1688890665.424884951] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1688890665.424911787] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1688890665.424916751] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000
[move_group-1] [INFO] [1688890665.424932058] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1688890665.424948109] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.100000
[move_group-1] [INFO] [1688890665.424953972] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1688890665.424966198] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1688890665.424971291] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-1] [INFO] [1688890665.424976326] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1688890665.424988474] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-1] [INFO] [1688890665.424992676] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1688890665.424996214] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1688890665.424999489] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1688890665.425002795] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[rviz2-2] [INFO] [1688890665.459016300] [rviz2]: Stereo is NOT SUPPORTED
[move_group-1] [INFO] [1688890665.497332415] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for crane_plus_arm_controller
[move_group-1] [INFO] [1688890665.498948880] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for crane_plus_gripper_controller
[move_group-1] [INFO] [1688890665.499096464] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1688890665.499120550] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1688890665.499708238] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-1] [INFO] [1688890665.499725562] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-1] [INFO] [1688890665.518316607] [move_group.move_group]: 
[move_group-1] 
[move_group-1] ********************************************************
[move_group-1] * MoveGroup using: 
[move_group-1] *     - ApplyPlanningSceneService
[move_group-1] *     - ClearOctomapService
[move_group-1] *     - CartesianPathService
[move_group-1] *     - ExecuteTrajectoryAction
[move_group-1] *     - GetPlanningSceneService
[move_group-1] *     - KinematicsService
[move_group-1] *     - MoveAction
[move_group-1] *     - MotionPlanService
[move_group-1] *     - QueryPlannersService
[move_group-1] *     - StateValidationService
[move_group-1] ********************************************************
[move_group-1] 
[move_group-1] [INFO] [1688890665.518368448] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-1] [INFO] [1688890665.518378858] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-1] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-1] Loading 'move_group/ClearOctomapService'...
[move_group-1] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-1] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-1] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-1] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-1] Loading 'move_group/MoveGroupMoveAction'...
[move_group-1] Loading 'move_group/MoveGroupPlanService'...
[move_group-1] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-1] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-1] 
[move_group-1] You can start planning now!
[move_group-1] 
[rviz2-2] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
[rviz2-2]          at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[ros2_control_node-5] [INFO] [1688890665.628824448] [controller_manager]: Loading controller 'crane_plus_arm_controller'
[rviz2-2] [INFO] [1688890665.652474863] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0487739 seconds
[rviz2-2] [INFO] [1688890665.652544176] [moveit_robot_model.robot_model]: Loading robot model 'crane_plus'...
[ros2 run controller_manager spawner crane_plus_arm_controller-7] [INFO] [1688890665.661382514] [spawner_crane_plus_arm_controller]: Loaded crane_plus_arm_controller
[ros2_control_node-5] [INFO] [1688890665.662865220] [controller_manager]: Configuring controller 'crane_plus_arm_controller'
[ros2_control_node-5] [INFO] [1688890665.663021076] [crane_plus_arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-5] [INFO] [1688890665.663058380] [crane_plus_arm_controller]: Command interfaces are [position] and state interfaces are [position].
[ros2_control_node-5] [INFO] [1688890665.663073293] [crane_plus_arm_controller]: Using 'splines' interpolation method.
[ros2_control_node-5] [INFO] [1688890665.664444788] [crane_plus_arm_controller]: Controller state will be published at 50.00 Hz.
[ros2_control_node-5] [INFO] [1688890665.667540762] [crane_plus_arm_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2_control_node-5] [ERROR] [1688890665.674461624] [controller_manager]: Can't activate controller 'crane_plus_arm_controller': Command interface with 'crane_plus_joint1/position' does not exist
[ros2 run controller_manager spawner crane_plus_arm_controller-7] [INFO] [1688890665.686966480] [spawner_crane_plus_arm_controller]: Configured and activated crane_plus_arm_controller
[ros2_control_node-5] [INFO] [1688890665.747012825] [controller_manager]: Loading controller 'crane_plus_gripper_controller'
[ros2 run controller_manager spawner crane_plus_gripper_controller-8] [INFO] [1688890665.755547518] [spawner_crane_plus_gripper_controller]: Loaded crane_plus_gripper_controller
[ros2_control_node-5] [INFO] [1688890665.757780709] [controller_manager]: Configuring controller 'crane_plus_gripper_controller'
[ros2_control_node-5] [INFO] [1688890665.757880720] [crane_plus_gripper_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-5] [INFO] [1688890665.757915656] [crane_plus_gripper_controller]: Command interfaces are [position] and state interfaces are [position].
[ros2_control_node-5] [INFO] [1688890665.757926372] [crane_plus_gripper_controller]: Using 'splines' interpolation method.
[ros2_control_node-5] [INFO] [1688890665.758282149] [crane_plus_gripper_controller]: Controller state will be published at 50.00 Hz.
[ros2_control_node-5] [INFO] [1688890665.758775499] [crane_plus_gripper_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2_control_node-5] [ERROR] [1688890665.764421573] [controller_manager]: Can't activate controller 'crane_plus_gripper_controller': Command interface with 'crane_plus_joint_hand/position' does not exist
[ros2 run controller_manager spawner crane_plus_gripper_controller-8] [INFO] [1688890665.776139802] [spawner_crane_plus_gripper_controller]: Configured and activated crane_plus_gripper_controller
[INFO] [ros2 run controller_manager spawner crane_plus_arm_controller-7]: process has finished cleanly [pid 5257]
[ros2_control_node-5] [INFO] [1688890665.921321592] [controller_manager]: Loading controller 'joint_state_broadcaster'
[ros2 run controller_manager spawner joint_state_broadcaster-6] [INFO] [1688890665.935340343] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-5] [INFO] [1688890665.937236208] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-5] [INFO] [1688890665.937346488] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ros2_control_node-5] [ERROR] [1688890665.944463563] [joint_state_broadcaster]: None of requested interfaces exist. Controller will not run.
[ros2_control_node-5] [WARN] [1688890665.944519135] []: Error occurred while doing error handling.
[ros2_control_node-5] [ERROR] [1688890665.944537275] [controller_manager]: After activating, controller 'joint_state_broadcaster' is in state 'unconfigured', expected Active
[INFO] [ros2 run controller_manager spawner crane_plus_gripper_controller-8]: process has finished cleanly [pid 5268]
[ros2 run controller_manager spawner joint_state_broadcaster-6] [INFO] [1688890665.955136253] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [ros2 run controller_manager spawner joint_state_broadcaster-6]: process has finished cleanly [pid 5254]
[rviz2-2] [ERROR] [1688890669.031047866] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-2] [INFO] [1688890669.048459683] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-2] [INFO] [1688890669.114550553] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0014407 seconds
[rviz2-2] [INFO] [1688890669.114602289] [moveit_robot_model.robot_model]: Loading robot model 'crane_plus'...
[rviz2-2] [INFO] [1688890669.291387576] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-2] [INFO] [1688890669.292068257] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-2] [INFO] [1688890669.301439593] [interactive_marker_display_93980068492416]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-2] [INFO] [1688890669.311257499] [moveit_ros_visualization.motion_planning_frame]: group arm
[rviz2-2] [INFO] [1688890669.311282499] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[rviz2-2] [INFO] [1688890669.322383318] [move_group_interface]: Ready to take commands for planning group arm.
[rviz2-2] [INFO] [1688890669.322843471] [interactive_marker_display_93980068492416]: Sending request for interactive markers
[rviz2-2] [INFO] [1688890669.355569977] [interactive_marker_display_93980068492416]: Service response received for initialization
  1. terminal 1 で example.launch.py gripper_control を実行
source ~/ros2_ws/install/setup.bash
ros2 launch crane_plus_examples example.launch.py example:='gripper_control'
[INFO] [launch]: All log files can be found below /home/inoue/.ros/log/2023-07-09-17-18-01-588910-nuc-5381
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gripper_control-1]: process started with pid [5383]
[gripper_control-1] [INFO] [1688890681.814968140] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0278052 seconds
[gripper_control-1] [INFO] [1688890681.815017347] [moveit_robot_model.robot_model]: Loading robot model 'crane_plus'...
[gripper_control-1] [INFO] [1688890681.861898011] [move_group_interface]: Ready to take commands for planning group gripper.
[gripper_control-1] [INFO] [1688890681.862368472] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[gripper_control-1] [INFO] [1688890682.862481971] [moveit_ros.current_state_monitor]: Didn't received robot state (joint angles) with recent timestamp within 1.000000 seconds.
[gripper_control-1] Check clock synchronization if your are running ROS across multiple machines!
[gripper_control-1] [ERROR] [1688890682.862541702] [move_group_interface]: Failed to fetch current robot state
[ERROR] [gripper_control-1]: process has died [pid 5383, exit code -11, cmd '/home/inoue/ros2_ws/install/crane_plus_examples/lib/crane_plus_examples/gripper_control --ros-args -r __node:=gripper_control_node -p use_sim_time:=False --params-file /tmp/launch_params_x2z35qvw --params-file /tmp/launch_params_z7cfruzy --params-file /tmp/launch_params__rqbbgz7'].

期待する動作

CRANE+V2 のグリッパー開閉

Kuwamai commented 1 year ago

ご報告ありがとうございます。

demo.launch.py実行時に出力されているOverload errorはグリッパに使用されているID 5のサーボにかかる負荷が、許容値を超えた際に出力されます。弊社で確認したところ、下記エラーはすでにOverload errorが発生している状態でdemo.launch.pyを実行した際に出力されました。demo.launch.py実行前に何らかの原因でOverload errorが発生したと考えられます。

[ros2_control_node-5] [ERROR] [1688890665.071397537] [CranePlusHardware]: torque_enable: dxl_id: 5 :[RxPacketError] Overload error!

以下の2点をご確認いただきたいです。

  1. 電源オフ時にCRANE+ V2のグリッパを手動で開閉した際、回転軸に強い抵抗を感じないことをご確認ください。
  2. demo.launch.py実行時にグリッパが机等に接触していないことをご確認ください。

またCRANE+ V2の電源を抜き差しし、Overload errorをリセットした直後のdemo.launch.py実行時のログをコメントに添付していただきたいです。 よろしくおねがいします。

taikiinoue45 commented 1 year ago

Overload error をリセットした後、上記の再現方法を試したところ無事にグリッパーが開閉しました！ ありがとうございます！

Kuwamai commented 1 year ago

無事に動いてなによりです! こちらのissueはクローズいたします。