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tork-a / spur

ROS package suite for SPUR, mobile base robot with extensible arm made at Tamagawa University.
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DroppedPacketError: Invalid response received from motor 4. Wrong packet prefix [] #4

Closed 130s closed 9 years ago

130s commented 9 years ago 
$ cd src/dynamixel_motor/
$ git branch
  add_dummy_io
* add_joint_state_publisher
  master
$ catkin_make
$ roslaunch spur_controller spur_controller.launch
:
[WARN] [WallTime: 1422607821.401078] [joint_state_publisher] not all dependencies started, still waiting for ['fr_wheel_joint_velocity_controller']...
[INFO] [WallTime: 1422607821.401884] Controller br_wheel_joint_velocity_controller successfully started.
[INFO] [WallTime: 1422607821.438206] Controller fr_wheel_joint_velocity_controller successfully started.
[spur/dynamixel_controller_spawner_MX106-3] process has finished cleanly
log file: /home/kusa/.ros/log/046bc372-a85d-11e4-b99e-f816542d218e/spur-dynamixel_controller_spawner_MX106-3*.log
[INFO] [WallTime: 1422607821.940620] Start base controller
Exception in thread Thread-33:
Traceback (most recent call last):
  File "/usr/lib/python2.7/threading.py", line 810, in __bootstrap_inner
    self.run()
  File "/usr/lib/python2.7/threading.py", line 763, in run
    self.__target(*self.__args, **self.__kwargs)
  File "/home/kusa/data/tmp/cws_spur_tmp2/src/dynamixel_motor/dynamixel_controllers/src/dynamixel_controllers/joint_state_publisher.py", line 98, in update_state
    self.msg.position.append(self.raw_to_rad(io.get_position(motor_id),co))
  File "/home/kusa/data/tmp/cws_spur_tmp2/src/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_io.py", line 866, in get_position
    response = self.read(servo_id, DXL_PRESENT_POSITION_L, 2)
  File "/home/kusa/data/tmp/cws_spur_tmp2/src/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_io.py", line 141, in read
    data = self.__read_response(servo_id)
  File "/home/kusa/data/tmp/cws_spur_tmp2/src/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_io.py", line 104, in __read_response
    raise DroppedPacketError('Invalid response received from motor %d. %s' % (servo_id, e))
DroppedPacketError: Invalid response received from motor 4. Wrong packet prefix []
$ rosrun dynamixel_driver info_dump.py -p /dev/ttyUSB0 1 2 3 4 5 6 7 8
Pinging motors:
1 ...
Traceback (most recent call last):
  File "/opt/ros/indigo/lib/dynamixel_driver/info_dump.py", line 119, in <module>
    model = dxl_io.get_model_number(motor_id)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/dynamixel_driver/dynamixel_io.py", line 760, in get_model_number
    response = self.read(servo_id, DXL_MODEL_NUMBER_L, 2)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/dynamixel_driver/dynamixel_io.py", line 138, in read
    data = self.__read_response(servo_id)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/dynamixel_driver/dynamixel_io.py", line 101, in __read_response
    raise DroppedPacketError('Invalid response received from motor %d. %s' % (servo_id, e))
dynamixel_driver.dynamixel_io.DroppedPacketError: Invalid response received from motor 1. Wrong packet prefix ['\x00', '@']

Once the controller is terminated,

$ rosrun dynamixel_driver info_dump.py -p /dev/ttyUSB0 1 2 3 4 5 6 7 8
Pinging motors:
1 ... done
    Motor 1 is connected:
        Freespin: False
        Model ------------------- MX-106 (firmware version: 36)
        Min Angle --------------- 0
        Max Angle --------------- 4095
        Current Position -------- 2049
        Current Speed ----------- 0
        Current Temperature ----- 31°C
        Current Voltage --------- 14.8v
        Current Load ------------ 0
        Moving ------------------ False

2 ... done
    Motor 2 is connected:
        Freespin: False
        Model ------------------- MX-106 (firmware version: 36)
        Min Angle --------------- 0
        Max Angle --------------- 4095
        Current Position -------- 2047
        Current Speed ----------- 0
        Current Temperature ----- 31°C
        Current Voltage --------- 14.9v
        Current Load ------------ 0
        Moving ------------------ False

3 ... done
    Motor 3 is connected:
        Freespin: False
        Model ------------------- MX-106 (firmware version: 36)
        Min Angle --------------- 0
        Max Angle --------------- 4095
        Current Position -------- 2047
        Current Speed ----------- 0
        Current Temperature ----- 30°C
        Current Voltage --------- 15.0v
        Current Load ------------ 0
        Moving ------------------ False

4 ... done
    Motor 4 is connected:
        Freespin: False
        Model ------------------- MX-106 (firmware version: 36)
        Min Angle --------------- 0
        Max Angle --------------- 4095
        Current Position -------- 2048
        Current Speed ----------- 0
        Current Temperature ----- 29°C
        Current Voltage --------- 15.2v
        Current Load ------------ 0
        Moving ------------------ False

5 ... done
    Motor 5 is connected:
        Freespin: True
        Model ------------------- MX-106 (firmware version: 36)
        Current Speed ----------- 0
        Current Temperature ----- 35°C
        Current Voltage --------- 14.6v
        Current Load ------------ 0
        Moving ------------------ False

6 ... done
    Motor 6 is connected:
        Freespin: True
        Model ------------------- MX-106 (firmware version: 36)
        Current Speed ----------- 0
        Current Temperature ----- 32°C
        Current Voltage --------- 14.8v
        Current Load ------------ 0
        Moving ------------------ False

7 ... done
    Motor 7 is connected:
        Freespin: True
        Model ------------------- MX-106 (firmware version: 36)
        Current Speed ----------- 0
        Current Temperature ----- 34°C
        Current Voltage --------- 15.1v
        Current Load ------------ 0
        Moving ------------------ False

8 ... done
    Motor 8 is connected:
        Freespin: True
        Model ------------------- MX-106 (firmware version: 33)
        Current Speed ----------- 0
        Current Temperature ----- 31°C
        Current Voltage --------- 14.9v
        Current Load ------------ 0
        Moving ------------------ False
130s commented 9 years ago

Turned out this error only happens with the upstream source of https://github.com/arebgun/dynamixel_motor/. With dynamixel_motor 0.4.0 this doesn't happen.

130s commented 9 years ago

Just info; this error starts happening after this commit in https://github.com/arebgun/dynamixel_motor.

130s commented 9 years ago

Not sure how significant is this error but with https://github.com/arebgun/dynamixel_motor/commit/c48aaee22686f7e1028168f995ae27546e2493ec the error still occurs but the motors seem to be working.

$ roslaunch spur_controller spur_controller.launch 
... logging to /home/rostam/.ros/log/e30190b0-c2ea-11e4-8535-f816542d218e/roslaunch-tork-kudu1-13345.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://tork-kudu1:33240/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /robot_pose_ekf/debug: True
 * /robot_pose_ekf/freq: 30.0
 * /robot_pose_ekf/imu_used: False
 * /robot_pose_ekf/odom_used: True
 * /robot_pose_ekf/output_frame: odom
 * /robot_pose_ekf/self_diagnose: False
 * /robot_pose_ekf/sensor_timeout: 1.0
 * /robot_pose_ekf/vo_used: False
 * /rosdistro: indigo
 * /rosversion: 1.11.10
 * /spur/bl_rotation_joint_position_controller/controller/module: joint_position_co...
 * /spur/bl_rotation_joint_position_controller/controller/package: dynamixel_control...
 * /spur/bl_rotation_joint_position_controller/controller/type: JointPositionCont...
 * /spur/bl_rotation_joint_position_controller/joint_name: bl_rotation_joint
 * /spur/bl_rotation_joint_position_controller/joint_speed: 2.0
 * /spur/bl_rotation_joint_position_controller/motor/id: 2
 * /spur/bl_rotation_joint_position_controller/motor/init: 2048
 * /spur/bl_rotation_joint_position_controller/motor/max: 4095
 * /spur/bl_rotation_joint_position_controller/motor/min: 0
 * /spur/bl_wheel_joint_velocity_controller/controller/module: joint_torque_cont...
 * /spur/bl_wheel_joint_velocity_controller/controller/package: dynamixel_control...
 * /spur/bl_wheel_joint_velocity_controller/controller/type: JointTorqueContro...
 * /spur/bl_wheel_joint_velocity_controller/joint_name: bl_wheel_joint
 * /spur/bl_wheel_joint_velocity_controller/joint_speed: 2.0
 * /spur/bl_wheel_joint_velocity_controller/motor/id: 6
 * /spur/bl_wheel_joint_velocity_controller/motor/init: 0
 * /spur/bl_wheel_joint_velocity_controller/motor/max: 1024
 * /spur/bl_wheel_joint_velocity_controller/motor/min: -1024
 * /spur/br_rotation_joint_position_controller/controller/module: joint_position_co...
 * /spur/br_rotation_joint_position_controller/controller/package: dynamixel_control...
 * /spur/br_rotation_joint_position_controller/controller/type: JointPositionCont...
 * /spur/br_rotation_joint_position_controller/joint_name: br_rotation_joint
 * /spur/br_rotation_joint_position_controller/joint_speed: 2.0
 * /spur/br_rotation_joint_position_controller/motor/id: 3
 * /spur/br_rotation_joint_position_controller/motor/init: 2048
 * /spur/br_rotation_joint_position_controller/motor/max: 4095
 * /spur/br_rotation_joint_position_controller/motor/min: 0
 * /spur/br_wheel_joint_velocity_controller/controller/module: joint_torque_cont...
 * /spur/br_wheel_joint_velocity_controller/controller/package: dynamixel_control...
 * /spur/br_wheel_joint_velocity_controller/controller/type: JointTorqueContro...
 * /spur/br_wheel_joint_velocity_controller/joint_name: br_wheel_joint
 * /spur/br_wheel_joint_velocity_controller/joint_speed: 2.0
 * /spur/br_wheel_joint_velocity_controller/motor/id: 7
 * /spur/br_wheel_joint_velocity_controller/motor/init: 0
 * /spur/br_wheel_joint_velocity_controller/motor/max: 1024
 * /spur/br_wheel_joint_velocity_controller/motor/min: -1024
 * /spur/fl_rotation_joint_position_controller/controller/module: joint_position_co...
 * /spur/fl_rotation_joint_position_controller/controller/package: dynamixel_control...
 * /spur/fl_rotation_joint_position_controller/controller/type: JointPositionCont...
 * /spur/fl_rotation_joint_position_controller/joint_name: fl_rotation_joint
 * /spur/fl_rotation_joint_position_controller/joint_speed: 2.0
 * /spur/fl_rotation_joint_position_controller/motor/id: 1
 * /spur/fl_rotation_joint_position_controller/motor/init: 2048
 * /spur/fl_rotation_joint_position_controller/motor/max: 4095
 * /spur/fl_rotation_joint_position_controller/motor/min: 0
 * /spur/fl_wheel_joint_velocity_controller/controller/module: joint_torque_cont...
 * /spur/fl_wheel_joint_velocity_controller/controller/package: dynamixel_control...
 * /spur/fl_wheel_joint_velocity_controller/controller/type: JointTorqueContro...
 * /spur/fl_wheel_joint_velocity_controller/joint_name: fl_wheel_joint
 * /spur/fl_wheel_joint_velocity_controller/joint_speed: 2.0
 * /spur/fl_wheel_joint_velocity_controller/motor/id: 5
 * /spur/fl_wheel_joint_velocity_controller/motor/init: 0
 * /spur/fl_wheel_joint_velocity_controller/motor/max: 1024
 * /spur/fl_wheel_joint_velocity_controller/motor/min: -1024
 * /spur/fr_rotation_joint_position_controller/controller/module: joint_position_co...
 * /spur/fr_rotation_joint_position_controller/controller/package: dynamixel_control...
 * /spur/fr_rotation_joint_position_controller/controller/type: JointPositionCont...
 * /spur/fr_rotation_joint_position_controller/joint_name: fr_rotation_joint
 * /spur/fr_rotation_joint_position_controller/joint_speed: 2.0
 * /spur/fr_rotation_joint_position_controller/motor/id: 4
 * /spur/fr_rotation_joint_position_controller/motor/init: 2048
 * /spur/fr_rotation_joint_position_controller/motor/max: 4095
 * /spur/fr_rotation_joint_position_controller/motor/min: 0
 * /spur/fr_wheel_joint_velocity_controller/controller/module: joint_torque_cont...
 * /spur/fr_wheel_joint_velocity_controller/controller/package: dynamixel_control...
 * /spur/fr_wheel_joint_velocity_controller/controller/type: JointTorqueContro...
 * /spur/fr_wheel_joint_velocity_controller/joint_name: fr_wheel_joint
 * /spur/fr_wheel_joint_velocity_controller/joint_speed: 2.0
 * /spur/fr_wheel_joint_velocity_controller/motor/id: 8
 * /spur/fr_wheel_joint_velocity_controller/motor/init: 0
 * /spur/fr_wheel_joint_velocity_controller/motor/max: 1024
 * /spur/fr_wheel_joint_velocity_controller/motor/min: -1024
 * /spur/joint_state_publisher/controller/module: joint_state_publi...
 * /spur/joint_state_publisher/controller/package: dynamixel_control...
 * /spur/joint_state_publisher/controller/type: JointStatePublisher
 * /spur/larm_elbow_p_joint_position_controller/controller/module: joint_position_co...
 * /spur/larm_elbow_p_joint_position_controller/controller/package: dynamixel_control...
 * /spur/larm_elbow_p_joint_position_controller/controller/type: JointPositionCont...
 * /spur/larm_elbow_p_joint_position_controller/joint_name: larm_elbow_p_joint
 * /spur/larm_elbow_p_joint_position_controller/joint_speed: 2.0
 * /spur/larm_elbow_p_joint_position_controller/motor/id: 9
 * /spur/larm_elbow_p_joint_position_controller/motor/init: 2048
 * /spur/larm_elbow_p_joint_position_controller/motor/max: 4095
 * /spur/larm_elbow_p_joint_position_controller/motor/min: 0
 * /spur/larm_shoulder_p_joint_position_controller/controller/module: joint_position_co...
 * /spur/larm_shoulder_p_joint_position_controller/controller/package: dynamixel_control...
 * /spur/larm_shoulder_p_joint_position_controller/controller/type: JointPositionCont...
 * /spur/larm_shoulder_p_joint_position_controller/joint_name: larm_shoulder_p_j...
 * /spur/larm_shoulder_p_joint_position_controller/joint_speed: 2.0
 * /spur/larm_shoulder_p_joint_position_controller/motor/id: 10
 * /spur/larm_shoulder_p_joint_position_controller/motor/init: 2048
 * /spur/larm_shoulder_p_joint_position_controller/motor/max: 4095
 * /spur/larm_shoulder_p_joint_position_controller/motor/min: 0
 * /spur/larm_shoulder_r_joint_position_controller/controller/module: joint_position_co...
 * /spur/larm_shoulder_r_joint_position_controller/controller/package: dynamixel_control...
 * /spur/larm_shoulder_r_joint_position_controller/controller/type: JointPositionCont...
 * /spur/larm_shoulder_r_joint_position_controller/joint_name: larm_shoulder_r_j...
 * /spur/larm_shoulder_r_joint_position_controller/joint_speed: 2.0
 * /spur/larm_shoulder_r_joint_position_controller/motor/id: 11
 * /spur/larm_shoulder_r_joint_position_controller/motor/init: 2048
 * /spur/larm_shoulder_r_joint_position_controller/motor/max: 4095
 * /spur/larm_shoulder_r_joint_position_controller/motor/min: 0
 * /spur/larm_shoulder_y_joint_position_controller/controller/module: joint_position_co...
 * /spur/larm_shoulder_y_joint_position_controller/controller/package: dynamixel_control...
 * /spur/larm_shoulder_y_joint_position_controller/controller/type: JointPositionCont...
 * /spur/larm_shoulder_y_joint_position_controller/joint_name: larm_shoulder_y_j...
 * /spur/larm_shoulder_y_joint_position_controller/joint_speed: 2.0
 * /spur/larm_shoulder_y_joint_position_controller/motor/id: 12
 * /spur/larm_shoulder_y_joint_position_controller/motor/init: 2048
 * /spur/larm_shoulder_y_joint_position_controller/motor/max: 4095
 * /spur/larm_shoulder_y_joint_position_controller/motor/min: 0
 * /spur/larm_wrist_p_joint_position_controller/controller/module: joint_position_co...
 * /spur/larm_wrist_p_joint_position_controller/controller/package: dynamixel_control...
 * /spur/larm_wrist_p_joint_position_controller/controller/type: JointPositionCont...
 * /spur/larm_wrist_p_joint_position_controller/joint_name: larm_wrist_p_joint
 * /spur/larm_wrist_p_joint_position_controller/joint_speed: 2.0
 * /spur/larm_wrist_p_joint_position_controller/motor/id: 13
 * /spur/larm_wrist_p_joint_position_controller/motor/init: 2048
 * /spur/larm_wrist_p_joint_position_controller/motor/max: 4095
 * /spur/larm_wrist_p_joint_position_controller/motor/min: 0
 * /spur/larm_wrist_r_joint_position_controller/controller/module: joint_position_co...
 * /spur/larm_wrist_r_joint_position_controller/controller/package: dynamixel_control...
 * /spur/larm_wrist_r_joint_position_controller/controller/type: JointPositionCont...
 * /spur/larm_wrist_r_joint_position_controller/joint_name: larm_wrist_r_joint
 * /spur/larm_wrist_r_joint_position_controller/joint_speed: 2.0
 * /spur/larm_wrist_r_joint_position_controller/motor/id: 14
 * /spur/larm_wrist_r_joint_position_controller/motor/init: 2048
 * /spur/larm_wrist_r_joint_position_controller/motor/max: 4095
 * /spur/larm_wrist_r_joint_position_controller/motor/min: 0
 * /spur/rarm_elbow_p_joint_position_controller/controller/module: joint_position_co...
 * /spur/rarm_elbow_p_joint_position_controller/controller/package: dynamixel_control...
 * /spur/rarm_elbow_p_joint_position_controller/controller/type: JointPositionCont...
 * /spur/rarm_elbow_p_joint_position_controller/joint_name: rarm_elbow_p_joint
 * /spur/rarm_elbow_p_joint_position_controller/joint_speed: 2.0
 * /spur/rarm_elbow_p_joint_position_controller/motor/id: 15
 * /spur/rarm_elbow_p_joint_position_controller/motor/init: 2048
 * /spur/rarm_elbow_p_joint_position_controller/motor/max: 4095
 * /spur/rarm_elbow_p_joint_position_controller/motor/min: 0
 * /spur/rarm_shoulder_p_joint_position_controller/controller/module: joint_position_co...
 * /spur/rarm_shoulder_p_joint_position_controller/controller/package: dynamixel_control...
 * /spur/rarm_shoulder_p_joint_position_controller/controller/type: JointPositionCont...
 * /spur/rarm_shoulder_p_joint_position_controller/joint_name: rarm_shoulder_p_j...
 * /spur/rarm_shoulder_p_joint_position_controller/joint_speed: 2.0
 * /spur/rarm_shoulder_p_joint_position_controller/motor/id: 16
 * /spur/rarm_shoulder_p_joint_position_controller/motor/init: 2048
 * /spur/rarm_shoulder_p_joint_position_controller/motor/max: 4095
 * /spur/rarm_shoulder_p_joint_position_controller/motor/min: 0
 * /spur/rarm_shoulder_r_joint_position_controller/controller/module: joint_position_co...
 * /spur/rarm_shoulder_r_joint_position_controller/controller/package: dynamixel_control...
 * /spur/rarm_shoulder_r_joint_position_controller/controller/type: JointPositionCont...
 * /spur/rarm_shoulder_r_joint_position_controller/joint_name: rarm_shoulder_r_j...
 * /spur/rarm_shoulder_r_joint_position_controller/joint_speed: 2.0
 * /spur/rarm_shoulder_r_joint_position_controller/motor/id: 17
 * /spur/rarm_shoulder_r_joint_position_controller/motor/init: 2048
 * /spur/rarm_shoulder_r_joint_position_controller/motor/max: 4095
 * /spur/rarm_shoulder_r_joint_position_controller/motor/min: 0
 * /spur/rarm_shoulder_y_joint_position_controller/controller/module: joint_position_co...
 * /spur/rarm_shoulder_y_joint_position_controller/controller/package: dynamixel_control...
 * /spur/rarm_shoulder_y_joint_position_controller/controller/type: JointPositionCont...
 * /spur/rarm_shoulder_y_joint_position_controller/joint_name: rarm_shoulder_y_j...
 * /spur/rarm_shoulder_y_joint_position_controller/joint_speed: 2.0
 * /spur/rarm_shoulder_y_joint_position_controller/motor/id: 18
 * /spur/rarm_shoulder_y_joint_position_controller/motor/init: 2048
 * /spur/rarm_shoulder_y_joint_position_controller/motor/max: 4095
 * /spur/rarm_shoulder_y_joint_position_controller/motor/min: 0
 * /spur/rarm_wrist_p_joint_position_controller/controller/module: joint_position_co...
 * /spur/rarm_wrist_p_joint_position_controller/controller/package: dynamixel_control...
 * /spur/rarm_wrist_p_joint_position_controller/controller/type: JointPositionCont...
 * /spur/rarm_wrist_p_joint_position_controller/joint_name: rarm_wrist_p_joint
 * /spur/rarm_wrist_p_joint_position_controller/joint_speed: 2.0
 * /spur/rarm_wrist_p_joint_position_controller/motor/id: 19
 * /spur/rarm_wrist_p_joint_position_controller/motor/init: 2048
 * /spur/rarm_wrist_p_joint_position_controller/motor/max: 4095
 * /spur/rarm_wrist_p_joint_position_controller/motor/min: 0
 * /spur/rarm_wrist_r_joint_position_controller/controller/module: joint_position_co...
 * /spur/rarm_wrist_r_joint_position_controller/controller/package: dynamixel_control...
 * /spur/rarm_wrist_r_joint_position_controller/controller/type: JointPositionCont...
 * /spur/rarm_wrist_r_joint_position_controller/joint_name: rarm_wrist_r_joint
 * /spur/rarm_wrist_r_joint_position_controller/joint_speed: 2.0
 * /spur/rarm_wrist_r_joint_position_controller/motor/id: 20
 * /spur/rarm_wrist_r_joint_position_controller/motor/init: 2048
 * /spur/rarm_wrist_r_joint_position_controller/motor/max: 4095
 * /spur/rarm_wrist_r_joint_position_controller/motor/min: 0
 * /spur/spur_controller_manager/diagnostics_rate: 2
 * /spur/spur_controller_manager/namespace: spur_controller_m...
 * /spur/spur_controller_manager/serial_ports/dynamixel_MX106/baud_rate: 1000000
 * /spur/spur_controller_manager/serial_ports/dynamixel_MX106/diagnostics/error_level_temp: 70
 * /spur/spur_controller_manager/serial_ports/dynamixel_MX106/diagnostics/warn_level_temp: 65
 * /spur/spur_controller_manager/serial_ports/dynamixel_MX106/max_motor_id: 8
 * /spur/spur_controller_manager/serial_ports/dynamixel_MX106/min_motor_id: 1
 * /spur/spur_controller_manager/serial_ports/dynamixel_MX106/port_name: /dev/ttyUSB0
 * /spur/spur_controller_manager/serial_ports/dynamixel_MX106/update_rate: 20

NODES
  /spur/
    dynamixel_controller_spawner_MX106 (dynamixel_controllers/controller_spawner.py)
    joint_state_publisher_spawner (dynamixel_controllers/controller_spawner.py)
    spur_base_controller (spur_controller/base_controller.py)
    spur_controller_manager (dynamixel_controllers/controller_manager.py)
  /
    robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master
process[master]: started with pid [13360]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to e30190b0-c2ea-11e4-8535-f816542d218e
process[rosout-1]: started with pid [13373]
started core service [/rosout]
process[spur/spur_controller_manager-2]: started with pid [13390]
process[spur/dynamixel_controller_spawner_MX106-3]: started with pid [13393]
process[spur/joint_state_publisher_spawner-4]: started with pid [13397]
process[spur/spur_base_controller-5]: started with pid [13402]
[INFO] [WallTime: 1425527483.238952] dynamixel_MX106 controller_spawner: waiting for controller_manager spur_controller_manager to startup in /spur/ namespace...
process[robot_pose_ekf-6]: started with pid [13416]
/home/rostam/cws_spur/src/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_serial_proxy.py:94: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.motor_states_pub = rospy.Publisher('motor_states/%s' % self.port_namespace, MotorStateList, queue_size=None)
/home/rostam/cws_spur/src/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_serial_proxy.py:95: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.diagnostics_pub = rospy.Publisher('/diagnostics', DiagnosticArray, queue_size=None)
[INFO] [WallTime: 1425527483.408765] dynamixel_MX106: Pinging motor IDs 1 through 8...
[INFO] [WallTime: 1425527483.449456] meta controller_spawner: waiting for controller_manager spur_controller_manager to startup in /spur/ namespace...
process[robot_state_publisher-7]: started with pid [13568]
/opt/ros/indigo/lib/robot_state_publisher/robot_state_publisher
[INFO] [WallTime: 1425527483.636597] dynamixel_MX106: Found 8 motors - 8 MX-106 [1, 2, 3, 4, 5, 6, 7, 8], initialization complete.
/home/rostam/cws_spur/src/dynamixel_motor/dynamixel_controllers/nodes/controller_manager.py:131: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.diagnostics_pub = rospy.Publisher('/diagnostics', DiagnosticArray)
[INFO] [WallTime: 1425527483.754247] meta controller_spawner: All services are up, spawning controllers...
[WARN] [WallTime: 1425527483.762601] [joint_state_publisher] not all dependencies started, still waiting for ['bl_rotation_joint_position_controller', 'br_rotation_joint_position_controller', 'br_wheel_joint_velocity_controller', 'fl_wheel_joint_velocity_controller', 'fr_wheel_joint_velocity_controller', 'fr_rotation_joint_position_controller', 'bl_wheel_joint_velocity_controller', 'fl_rotation_joint_position_controller']...
[INFO] [WallTime: 1425527483.763043] 
[INFO] [WallTime: 1425527483.845152] dynamixel_MX106 controller_spawner: All services are up, spawning controllers...
/home/rostam/cws_spur/src/dynamixel_motor/dynamixel_controllers/src/dynamixel_controllers/joint_controller.py:108: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.joint_state_pub = rospy.Publisher(self.controller_namespace + '/state', JointState, queue_size=None)
[WARN] [WallTime: 1425527483.875892] [joint_state_publisher] not all dependencies started, still waiting for ['bl_rotation_joint_position_controller', 'br_rotation_joint_position_controller', 'br_wheel_joint_velocity_controller', 'fl_wheel_joint_velocity_controller', 'fr_wheel_joint_velocity_controller', 'fr_rotation_joint_position_controller', 'bl_wheel_joint_velocity_controller']...
[INFO] [WallTime: 1425527483.876321] Controller fl_rotation_joint_position_controller successfully started.
[WARN] [WallTime: 1425527483.900111] [joint_state_publisher] not all dependencies started, still waiting for ['br_rotation_joint_position_controller', 'br_wheel_joint_velocity_controller', 'fl_wheel_joint_velocity_controller', 'fr_wheel_joint_velocity_controller', 'fr_rotation_joint_position_controller', 'bl_wheel_joint_velocity_controller']...
[INFO] [WallTime: 1425527483.900638] Controller bl_rotation_joint_position_controller successfully started.
[WARN] [WallTime: 1425527483.925389] [joint_state_publisher] not all dependencies started, still waiting for ['br_wheel_joint_velocity_controller', 'fl_wheel_joint_velocity_controller', 'fr_wheel_joint_velocity_controller', 'fr_rotation_joint_position_controller', 'bl_wheel_joint_velocity_controller']...
[INFO] [WallTime: 1425527483.925807] Controller br_rotation_joint_position_controller successfully started.
[WARN] [WallTime: 1425527483.955992] [joint_state_publisher] not all dependencies started, still waiting for ['br_wheel_joint_velocity_controller', 'fl_wheel_joint_velocity_controller', 'fr_wheel_joint_velocity_controller', 'bl_wheel_joint_velocity_controller']...
[INFO] [WallTime: 1425527483.956445] Controller fr_rotation_joint_position_controller successfully started.
[WARN] [WallTime: 1425527483.977355] [joint_state_publisher] not all dependencies started, still waiting for ['br_wheel_joint_velocity_controller', 'fr_wheel_joint_velocity_controller', 'bl_wheel_joint_velocity_controller']...
[INFO] [WallTime: 1425527483.977727] Controller fl_wheel_joint_velocity_controller successfully started.
[spur/joint_state_publisher_spawner-4] process has finished cleanly
log file: /home/rostam/.ros/log/e30190b0-c2ea-11e4-8535-f816542d218e/spur-joint_state_publisher_spawner-4*.log
[WARN] [WallTime: 1425527484.001281] [joint_state_publisher] not all dependencies started, still waiting for ['br_wheel_joint_velocity_controller', 'fr_wheel_joint_velocity_controller']...
[INFO] [WallTime: 1425527484.001691] Controller bl_wheel_joint_velocity_controller successfully started.
[WARN] [WallTime: 1425527484.022211] [joint_state_publisher] not all dependencies started, still waiting for ['fr_wheel_joint_velocity_controller']...
[INFO] [WallTime: 1425527484.022693] Controller br_wheel_joint_velocity_controller successfully started.
[INFO] [WallTime: 1425527484.045974] Controller fr_wheel_joint_velocity_controller successfully started.
[spur/dynamixel_controller_spawner_MX106-3] process has finished cleanly
log file: /home/rostam/.ros/log/e30190b0-c2ea-11e4-8535-f816542d218e/spur-dynamixel_controller_spawner_MX106-3*.log
[INFO] [WallTime: 1425527485.059876] Start base controller
Exception in thread Thread-26:
Traceback (most recent call last):
  File "/usr/lib/python2.7/threading.py", line 810, in __bootstrap_inner
    self.run()
  File "/usr/lib/python2.7/threading.py", line 763, in run
    self.__target(*self.__args, **self.__kwargs)
  File "/home/rostam/cws_spur/src/dynamixel_motor/dynamixel_controllers/src/dynamixel_controllers/joint_state_publisher.py", line 100, in update_state
  File "/home/rostam/cws_spur/src/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_io.py", line 891, in get_current
    model = self.get_model_number(servo_id)
  File "/home/rostam/cws_spur/src/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_io.py", line 809, in get_model_number
    response = self.read(servo_id, DXL_MODEL_NUMBER_L, 2)
  File "/home/rostam/cws_spur/src/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_io.py", line 141, in read
    data = self.__read_response(servo_id)
  File "/home/rostam/cws_spur/src/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_io.py", line 104, in __read_response
    raise DroppedPacketError('Invalid response received from motor %d. %s' % (servo_id, e))
DroppedPacketError: Invalid response received from motor 7. Wrong packet prefix []

^C[robot_state_publisher-7] killing on exit
[robot_pose_ekf-6] killing on exit
[spur/spur_base_controller-5] killing on exit
[spur/spur_controller_manager-2] killing on exit
[INFO] [WallTime: 1425528363.295614] Stop base controller
Exception in thread Thread-5:
Traceback (most recent call last):
  File "/usr/lib/python2.7/threading.py", line 810, in __bootstrap_inner
    self.run()
  File "/usr/lib/python2.7/threading.py", line 763, in run
    self.__target(*self.__args, **self.__kwargs)
  File "/home/rostam/cws_spur/src/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_serial_proxy.py", line 247, in __update_motor_states
    self.motor_states_pub.publish(msl)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/topics.py", line 834, in publish
    self.impl.publish(data)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/topics.py", line 993, in publish
    raise ROSException("publish() to a closed topic")
ROSException: publish() to a closed topic
k-okada commented 9 years ago

please use released version,

◉ Kei Okada

On Thu, Mar 5, 2015 at 1:10 PM, Isaac I.Y. Saito notifications@github.com wrote:

Not sure how significant is this error but with arebgun/dynamixel_motor@ c48aaee https://github.com/arebgun/dynamixel_motor/commit/c48aaee22686f7e1028168f995ae27546e2493ec the error still occurs but the motors seem to be working.

$ roslaunch spur_controller spur_controller.launch ... logging to /home/rostam/.ros/log/e30190b0-c2ea-11e4-8535-f816542d218e/roslaunch-tork-kudu1-13345.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://tork-kudu1:33240/

SUMMARY

PARAMETERS

  • /robot_description: <?xml version="1....
  • /robot_pose_ekf/debug: True
  • /robot_pose_ekf/freq: 30.0
  • /robot_pose_ekf/imu_used: False
  • /robot_pose_ekf/odom_used: True
  • /robot_pose_ekf/output_frame: odom
  • /robot_pose_ekf/self_diagnose: False
  • /robot_pose_ekf/sensor_timeout: 1.0
  • /robot_pose_ekf/vo_used: False
  • /rosdistro: indigo
  • /rosversion: 1.11.10
  • /spur/bl_rotation_joint_position_controller/controller/module: joint_position_co...
  • /spur/bl_rotation_joint_position_controller/controller/package: dynamixel_control...
  • /spur/bl_rotation_joint_position_controller/controller/type: JointPositionCont...
  • /spur/bl_rotation_joint_position_controller/joint_name: bl_rotation_joint
  • /spur/bl_rotation_joint_position_controller/joint_speed: 2.0
  • /spur/bl_rotation_joint_position_controller/motor/id: 2
  • /spur/bl_rotation_joint_position_controller/motor/init: 2048
  • /spur/bl_rotation_joint_position_controller/motor/max: 4095
  • /spur/bl_rotation_joint_position_controller/motor/min: 0
  • /spur/bl_wheel_joint_velocity_controller/controller/module: joint_torque_cont...
  • /spur/bl_wheel_joint_velocity_controller/controller/package: dynamixel_control...
  • /spur/bl_wheel_joint_velocity_controller/controller/type: JointTorqueContro...
  • /spur/bl_wheel_joint_velocity_controller/joint_name: bl_wheel_joint
  • /spur/bl_wheel_joint_velocity_controller/joint_speed: 2.0
  • /spur/bl_wheel_joint_velocity_controller/motor/id: 6
  • /spur/bl_wheel_joint_velocity_controller/motor/init: 0
  • /spur/bl_wheel_joint_velocity_controller/motor/max: 1024
  • /spur/bl_wheel_joint_velocity_controller/motor/min: -1024
  • /spur/br_rotation_joint_position_controller/controller/module: joint_position_co...
  • /spur/br_rotation_joint_position_controller/controller/package: dynamixel_control...
  • /spur/br_rotation_joint_position_controller/controller/type: JointPositionCont...
  • /spur/br_rotation_joint_position_controller/joint_name: br_rotation_joint
  • /spur/br_rotation_joint_position_controller/joint_speed: 2.0
  • /spur/br_rotation_joint_position_controller/motor/id: 3
  • /spur/br_rotation_joint_position_controller/motor/init: 2048
  • /spur/br_rotation_joint_position_controller/motor/max: 4095
  • /spur/br_rotation_joint_position_controller/motor/min: 0
  • /spur/br_wheel_joint_velocity_controller/controller/module: joint_torque_cont...
  • /spur/br_wheel_joint_velocity_controller/controller/package: dynamixel_control...
  • /spur/br_wheel_joint_velocity_controller/controller/type: JointTorqueContro...
  • /spur/br_wheel_joint_velocity_controller/joint_name: br_wheel_joint
  • /spur/br_wheel_joint_velocity_controller/joint_speed: 2.0
  • /spur/br_wheel_joint_velocity_controller/motor/id: 7
  • /spur/br_wheel_joint_velocity_controller/motor/init: 0
  • /spur/br_wheel_joint_velocity_controller/motor/max: 1024
  • /spur/br_wheel_joint_velocity_controller/motor/min: -1024
  • /spur/fl_rotation_joint_position_controller/controller/module: joint_position_co...
  • /spur/fl_rotation_joint_position_controller/controller/package: dynamixel_control...
  • /spur/fl_rotation_joint_position_controller/controller/type: JointPositionCont...
  • /spur/fl_rotation_joint_position_controller/joint_name: fl_rotation_joint
  • /spur/fl_rotation_joint_position_controller/joint_speed: 2.0
  • /spur/fl_rotation_joint_position_controller/motor/id: 1
  • /spur/fl_rotation_joint_position_controller/motor/init: 2048
  • /spur/fl_rotation_joint_position_controller/motor/max: 4095
  • /spur/fl_rotation_joint_position_controller/motor/min: 0
  • /spur/fl_wheel_joint_velocity_controller/controller/module: joint_torque_cont...
  • /spur/fl_wheel_joint_velocity_controller/controller/package: dynamixel_control...
  • /spur/fl_wheel_joint_velocity_controller/controller/type: JointTorqueContro...
  • /spur/fl_wheel_joint_velocity_controller/joint_name: fl_wheel_joint
  • /spur/fl_wheel_joint_velocity_controller/joint_speed: 2.0
  • /spur/fl_wheel_joint_velocity_controller/motor/id: 5
  • /spur/fl_wheel_joint_velocity_controller/motor/init: 0
  • /spur/fl_wheel_joint_velocity_controller/motor/max: 1024
  • /spur/fl_wheel_joint_velocity_controller/motor/min: -1024
  • /spur/fr_rotation_joint_position_controller/controller/module: joint_position_co...
  • /spur/fr_rotation_joint_position_controller/controller/package: dynamixel_control...
  • /spur/fr_rotation_joint_position_controller/controller/type: JointPositionCont...
  • /spur/fr_rotation_joint_position_controller/joint_name: fr_rotation_joint
  • /spur/fr_rotation_joint_position_controller/joint_speed: 2.0
  • /spur/fr_rotation_joint_position_controller/motor/id: 4
  • /spur/fr_rotation_joint_position_controller/motor/init: 2048
  • /spur/fr_rotation_joint_position_controller/motor/max: 4095
  • /spur/fr_rotation_joint_position_controller/motor/min: 0
  • /spur/fr_wheel_joint_velocity_controller/controller/module: joint_torque_cont...
  • /spur/fr_wheel_joint_velocity_controller/controller/package: dynamixel_control...
  • /spur/fr_wheel_joint_velocity_controller/controller/type: JointTorqueContro...
  • /spur/fr_wheel_joint_velocity_controller/joint_name: fr_wheel_joint
  • /spur/fr_wheel_joint_velocity_controller/joint_speed: 2.0
  • /spur/fr_wheel_joint_velocity_controller/motor/id: 8
  • /spur/fr_wheel_joint_velocity_controller/motor/init: 0
  • /spur/fr_wheel_joint_velocity_controller/motor/max: 1024
  • /spur/fr_wheel_joint_velocity_controller/motor/min: -1024
  • /spur/joint_state_publisher/controller/module: joint_state_publi...
  • /spur/joint_state_publisher/controller/package: dynamixel_control...
  • /spur/joint_state_publisher/controller/type: JointStatePublisher
  • /spur/larm_elbow_p_joint_position_controller/controller/module: joint_position_co...
  • /spur/larm_elbow_p_joint_position_controller/controller/package: dynamixel_control...
  • /spur/larm_elbow_p_joint_position_controller/controller/type: JointPositionCont...
  • /spur/larm_elbow_p_joint_position_controller/joint_name: larm_elbow_p_joint
  • /spur/larm_elbow_p_joint_position_controller/joint_speed: 2.0
  • /spur/larm_elbow_p_joint_position_controller/motor/id: 9
  • /spur/larm_elbow_p_joint_position_controller/motor/init: 2048
  • /spur/larm_elbow_p_joint_position_controller/motor/max: 4095
  • /spur/larm_elbow_p_joint_position_controller/motor/min: 0
  • /spur/larm_shoulder_p_joint_position_controller/controller/module: joint_position_co...
  • /spur/larm_shoulder_p_joint_position_controller/controller/package: dynamixel_control...
  • /spur/larm_shoulder_p_joint_position_controller/controller/type: JointPositionCont...
  • /spur/larm_shoulder_p_joint_position_controller/joint_name: larm_shoulder_p_j...
  • /spur/larm_shoulder_p_joint_position_controller/joint_speed: 2.0
  • /spur/larm_shoulder_p_joint_position_controller/motor/id: 10
  • /spur/larm_shoulder_p_joint_position_controller/motor/init: 2048
  • /spur/larm_shoulder_p_joint_position_controller/motor/max: 4095
  • /spur/larm_shoulder_p_joint_position_controller/motor/min: 0
  • /spur/larm_shoulder_r_joint_position_controller/controller/module: joint_position_co...
  • /spur/larm_shoulder_r_joint_position_controller/controller/package: dynamixel_control...
  • /spur/larm_shoulder_r_joint_position_controller/controller/type: JointPositionCont...
  • /spur/larm_shoulder_r_joint_position_controller/joint_name: larm_shoulder_r_j...
  • /spur/larm_shoulder_r_joint_position_controller/joint_speed: 2.0
  • /spur/larm_shoulder_r_joint_position_controller/motor/id: 11
  • /spur/larm_shoulder_r_joint_position_controller/motor/init: 2048
  • /spur/larm_shoulder_r_joint_position_controller/motor/max: 4095
  • /spur/larm_shoulder_r_joint_position_controller/motor/min: 0
  • /spur/larm_shoulder_y_joint_position_controller/controller/module: joint_position_co...
  • /spur/larm_shoulder_y_joint_position_controller/controller/package: dynamixel_control...
  • /spur/larm_shoulder_y_joint_position_controller/controller/type: JointPositionCont...
  • /spur/larm_shoulder_y_joint_position_controller/joint_name: larm_shoulder_y_j...
  • /spur/larm_shoulder_y_joint_position_controller/joint_speed: 2.0
  • /spur/larm_shoulder_y_joint_position_controller/motor/id: 12
  • /spur/larm_shoulder_y_joint_position_controller/motor/init: 2048
  • /spur/larm_shoulder_y_joint_position_controller/motor/max: 4095
  • /spur/larm_shoulder_y_joint_position_controller/motor/min: 0
  • /spur/larm_wrist_p_joint_position_controller/controller/module: joint_position_co...
  • /spur/larm_wrist_p_joint_position_controller/controller/package: dynamixel_control...
  • /spur/larm_wrist_p_joint_position_controller/controller/type: JointPositionCont...
  • /spur/larm_wrist_p_joint_position_controller/joint_name: larm_wrist_p_joint
  • /spur/larm_wrist_p_joint_position_controller/joint_speed: 2.0
  • /spur/larm_wrist_p_joint_position_controller/motor/id: 13
  • /spur/larm_wrist_p_joint_position_controller/motor/init: 2048
  • /spur/larm_wrist_p_joint_position_controller/motor/max: 4095
  • /spur/larm_wrist_p_joint_position_controller/motor/min: 0
  • /spur/larm_wrist_r_joint_position_controller/controller/module: joint_position_co...
  • /spur/larm_wrist_r_joint_position_controller/controller/package: dynamixel_control...
  • /spur/larm_wrist_r_joint_position_controller/controller/type: JointPositionCont...
  • /spur/larm_wrist_r_joint_position_controller/joint_name: larm_wrist_r_joint
  • /spur/larm_wrist_r_joint_position_controller/joint_speed: 2.0
  • /spur/larm_wrist_r_joint_position_controller/motor/id: 14
  • /spur/larm_wrist_r_joint_position_controller/motor/init: 2048
  • /spur/larm_wrist_r_joint_position_controller/motor/max: 4095
  • /spur/larm_wrist_r_joint_position_controller/motor/min: 0
  • /spur/rarm_elbow_p_joint_position_controller/controller/module: joint_position_co...
  • /spur/rarm_elbow_p_joint_position_controller/controller/package: dynamixel_control...
  • /spur/rarm_elbow_p_joint_position_controller/controller/type: JointPositionCont...
  • /spur/rarm_elbow_p_joint_position_controller/joint_name: rarm_elbow_p_joint
  • /spur/rarm_elbow_p_joint_position_controller/joint_speed: 2.0
  • /spur/rarm_elbow_p_joint_position_controller/motor/id: 15
  • /spur/rarm_elbow_p_joint_position_controller/motor/init: 2048
  • /spur/rarm_elbow_p_joint_position_controller/motor/max: 4095
  • /spur/rarm_elbow_p_joint_position_controller/motor/min: 0
  • /spur/rarm_shoulder_p_joint_position_controller/controller/module: joint_position_co...
  • /spur/rarm_shoulder_p_joint_position_controller/controller/package: dynamixel_control...
  • /spur/rarm_shoulder_p_joint_position_controller/controller/type: JointPositionCont...
  • /spur/rarm_shoulder_p_joint_position_controller/joint_name: rarm_shoulder_p_j...
  • /spur/rarm_shoulder_p_joint_position_controller/joint_speed: 2.0
  • /spur/rarm_shoulder_p_joint_position_controller/motor/id: 16
  • /spur/rarm_shoulder_p_joint_position_controller/motor/init: 2048
  • /spur/rarm_shoulder_p_joint_position_controller/motor/max: 4095
  • /spur/rarm_shoulder_p_joint_position_controller/motor/min: 0
  • /spur/rarm_shoulder_r_joint_position_controller/controller/module: joint_position_co...
  • /spur/rarm_shoulder_r_joint_position_controller/controller/package: dynamixel_control...
  • /spur/rarm_shoulder_r_joint_position_controller/controller/type: JointPositionCont...
  • /spur/rarm_shoulder_r_joint_position_controller/joint_name: rarm_shoulder_r_j...
  • /spur/rarm_shoulder_r_joint_position_controller/joint_speed: 2.0
  • /spur/rarm_shoulder_r_joint_position_controller/motor/id: 17
  • /spur/rarm_shoulder_r_joint_position_controller/motor/init: 2048
  • /spur/rarm_shoulder_r_joint_position_controller/motor/max: 4095
  • /spur/rarm_shoulder_r_joint_position_controller/motor/min: 0
  • /spur/rarm_shoulder_y_joint_position_controller/controller/module: joint_position_co...
  • /spur/rarm_shoulder_y_joint_position_controller/controller/package: dynamixel_control...
  • /spur/rarm_shoulder_y_joint_position_controller/controller/type: JointPositionCont...
  • /spur/rarm_shoulder_y_joint_position_controller/joint_name: rarm_shoulder_y_j...
  • /spur/rarm_shoulder_y_joint_position_controller/joint_speed: 2.0
  • /spur/rarm_shoulder_y_joint_position_controller/motor/id: 18
  • /spur/rarm_shoulder_y_joint_position_controller/motor/init: 2048
  • /spur/rarm_shoulder_y_joint_position_controller/motor/max: 4095
  • /spur/rarm_shoulder_y_joint_position_controller/motor/min: 0
  • /spur/rarm_wrist_p_joint_position_controller/controller/module: joint_position_co...
  • /spur/rarm_wrist_p_joint_position_controller/controller/package: dynamixel_control...
  • /spur/rarm_wrist_p_joint_position_controller/controller/type: JointPositionCont...
  • /spur/rarm_wrist_p_joint_position_controller/joint_name: rarm_wrist_p_joint
  • /spur/rarm_wrist_p_joint_position_controller/joint_speed: 2.0
  • /spur/rarm_wrist_p_joint_position_controller/motor/id: 19
  • /spur/rarm_wrist_p_joint_position_controller/motor/init: 2048
  • /spur/rarm_wrist_p_joint_position_controller/motor/max: 4095
  • /spur/rarm_wrist_p_joint_position_controller/motor/min: 0
  • /spur/rarm_wrist_r_joint_position_controller/controller/module: joint_position_co...
  • /spur/rarm_wrist_r_joint_position_controller/controller/package: dynamixel_control...
  • /spur/rarm_wrist_r_joint_position_controller/controller/type: JointPositionCont...
  • /spur/rarm_wrist_r_joint_position_controller/joint_name: rarm_wrist_r_joint
  • /spur/rarm_wrist_r_joint_position_controller/joint_speed: 2.0
  • /spur/rarm_wrist_r_joint_position_controller/motor/id: 20
  • /spur/rarm_wrist_r_joint_position_controller/motor/init: 2048
  • /spur/rarm_wrist_r_joint_position_controller/motor/max: 4095
  • /spur/rarm_wrist_r_joint_position_controller/motor/min: 0
  • /spur/spur_controller_manager/diagnostics_rate: 2
  • /spur/spur_controller_manager/namespace: spur_controller_m...
  • /spur/spur_controller_manager/serial_ports/dynamixel_MX106/baud_rate: 1000000
  • /spur/spur_controller_manager/serial_ports/dynamixel_MX106/diagnostics/error_level_temp: 70
  • /spur/spur_controller_manager/serial_ports/dynamixel_MX106/diagnostics/warn_level_temp: 65
  • /spur/spur_controller_manager/serial_ports/dynamixel_MX106/max_motor_id: 8
  • /spur/spur_controller_manager/serial_ports/dynamixel_MX106/min_motor_id: 1
  • /spur/spur_controller_manager/serial_ports/dynamixel_MX106/port_name: /dev/ttyUSB0
  • /spur/spur_controller_manager/serial_ports/dynamixel_MX106/update_rate: 20

NODES /spur/ dynamixel_controller_spawner_MX106 (dynamixel_controllers/controller_spawner.py) joint_state_publisher_spawner (dynamixel_controllers/controller_spawner.py) spur_base_controller (spur_controller/base_controller.py) spur_controller_manager (dynamixel_controllers/controller_manager.py) / robot_pose_ekf (robot_pose_ekf/robot_pose_ekf) robot_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master process[master]: started with pid [13360] ROS_MASTER_URI=http://localhost:11311

setting /run_id to e30190b0-c2ea-11e4-8535-f816542d218e process[rosout-1]: started with pid [13373] started core service [/rosout] process[spur/spur_controller_manager-2]: started with pid [13390] process[spur/dynamixel_controller_spawner_MX106-3]: started with pid [13393] process[spur/joint_state_publisher_spawner-4]: started with pid [13397] process[spur/spur_base_controller-5]: started with pid [13402] [INFO] [WallTime: 1425527483.238952] dynamixel_MX106 controller_spawner: waiting for controller_manager spur_controller_manager to startup in /spur/ namespace... process[robot_pose_ekf-6]: started with pid [13416] /home/rostam/cws_spur/src/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_serial_proxy.py:94: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information. self.motor_states_pub = rospy.Publisher('motor_states/%s' % self.port_namespace, MotorStateList, queue_size=None) /home/rostam/cws_spur/src/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_serial_proxy.py:95: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information. self.diagnostics_pub = rospy.Publisher('/diagnostics', DiagnosticArray, queue_size=None) [INFO] [WallTime: 1425527483.408765] dynamixel_MX106: Pinging motor IDs 1 through 8... [INFO] [WallTime: 1425527483.449456] meta controller_spawner: waiting for controller_manager spur_controller_manager to startup in /spur/ namespace... process[robot_state_publisher-7]: started with pid [13568] /opt/ros/indigo/lib/robot_state_publisher/robot_state_publisher [INFO] [WallTime: 1425527483.636597] dynamixel_MX106: Found 8 motors - 8 MX-106 [1, 2, 3, 4, 5, 6, 7, 8], initialization complete. /home/rostam/cws_spur/src/dynamixel_motor/dynamixel_controllers/nodes/controller_manager.py:131: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information. self.diagnostics_pub = rospy.Publisher('/diagnostics', DiagnosticArray) [INFO] [WallTime: 1425527483.754247] meta controller_spawner: All services are up, spawning controllers... [WARN] [WallTime: 1425527483.762601] [joint_state_publisher] not all dependencies started, still waiting for ['bl_rotation_joint_position_controller', 'br_rotation_joint_position_controller', 'br_wheel_joint_velocity_controller', 'fl_wheel_joint_velocity_controller', 'fr_wheel_joint_velocity_controller', 'fr_rotation_joint_position_controller', 'bl_wheel_joint_velocity_controller', 'fl_rotation_joint_position_controller']... [INFO] [WallTime: 1425527483.763043] [INFO] [WallTime: 1425527483.845152] dynamixel_MX106 controller_spawner: All services are up, spawning controllers... /home/rostam/cws_spur/src/dynamixel_motor/dynamixel_controllers/src/dynamixel_controllers/joint_controller.py:108: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information. self.joint_state_pub = rospy.Publisher(self.controller_namespace + '/state', JointState, queue_size=None) [WARN] [WallTime: 1425527483.875892] [joint_state_publisher] not all dependencies started, still waiting for ['bl_rotation_joint_position_controller', 'br_rotation_joint_position_controller', 'br_wheel_joint_velocity_controller', 'fl_wheel_joint_velocity_controller', 'fr_wheel_joint_velocity_controller', 'fr_rotation_joint_position_controller', 'bl_wheel_joint_velocity_controller']... [INFO] [WallTime: 1425527483.876321] Controller fl_rotation_joint_position_controller successfully started. [WARN] [WallTime: 1425527483.900111] [joint_state_publisher] not all dependencies started, still waiting for ['br_rotation_joint_position_controller', 'br_wheel_joint_velocity_controller', 'fl_wheel_joint_velocity_controller', 'fr_wheel_joint_velocity_controller', 'fr_rotation_joint_position_controller', 'bl_wheel_joint_velocity_controller']... [INFO] [WallTime: 1425527483.900638] Controller bl_rotation_joint_position_controller successfully started. [WARN] [WallTime: 1425527483.925389] [joint_state_publisher] not all dependencies started, still waiting for ['br_wheel_joint_velocity_controller', 'fl_wheel_joint_velocity_controller', 'fr_wheel_joint_velocity_controller', 'fr_rotation_joint_position_controller', 'bl_wheel_joint_velocity_controller']... [INFO] [WallTime: 1425527483.925807] Controller br_rotation_joint_position_controller successfully started. [WARN] [WallTime: 1425527483.955992] [joint_state_publisher] not all dependencies started, still waiting for ['br_wheel_joint_velocity_controller', 'fl_wheel_joint_velocity_controller', 'fr_wheel_joint_velocity_controller', 'bl_wheel_joint_velocity_controller']... [INFO] [WallTime: 1425527483.956445] Controller fr_rotation_joint_position_controller successfully started. [WARN] [WallTime: 1425527483.977355] [joint_state_publisher] not all dependencies started, still waiting for ['br_wheel_joint_velocity_controller', 'fr_wheel_joint_velocity_controller', 'bl_wheel_joint_velocity_controller']... [INFO] [WallTime: 1425527483.977727] Controller fl_wheel_joint_velocity_controller successfully started. [spur/joint_state_publisher_spawner-4] process has finished cleanly log file: /home/rostam/.ros/log/e30190b0-c2ea-11e4-8535-f816542d218e/spur-joint_state_publisherspawner-4.log [WARN] [WallTime: 1425527484.001281] [joint_state_publisher] not all dependencies started, still waiting for ['br_wheel_joint_velocity_controller', 'fr_wheel_joint_velocity_controller']... [INFO] [WallTime: 1425527484.001691] Controller bl_wheel_jointvelocity controller successfully started. [WARN] [WallTime: 1425527484.022211] [joint_state_publisher] not all dependencies started, still waiting for ['fr_wheel_joint_velocity_controller']... [INFO] [WallTime: 1425527484.022693] Controller br_wheel_joint_velocity_controller successfully started. [INFO] [WallTime: 1425527484.045974] Controller fr_wheel_joint_velocity_controller successfully started. [spur/dynamixel_controller_spawner_MX106-3] process has finished cleanly log file: /home/rostam/.ros/log/e30190b0-c2ea-11e4-8535-f816542d218e/spur-dynamixel_controller_spawnerMX106-3.log [INFO] [WallTime: 1425527485.059876] Start base controller Exception in thread Thread-26: Traceback (most recent call last): File "/usr/lib/python2.7/threading.py", line 810, in bootstrap_inner self.run() File "/usr/lib/python2.7/threading.py", line 763, in run self.__target(_self.args, *_self.kwargs) File "/home/rostam/cws_spur/src/dynamixel_motor/dynamixel_controllers/src/dynamixel_controllers/joint_state_publisher.py", line 100, in update_state File "/home/rostam/cws_spur/src/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_io.py", line 891, in get_current model = self.get_model_number(servo_id) File "/home/rostam/cws_spur/src/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_io.py", line 809, in get_model_number response = self.read(servo_id, DXL_MODEL_NUMBER_L, 2) File "/home/rostam/cws_spur/src/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_io.py", line 141, in read data = self.read_response(servo_id) File "/home/rostam/cws_spur/src/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_io.py", line 104, in __read_response raise DroppedPacketError('Invalid response received from motor %d. %s' % (servo_id, e)) DroppedPacketError: Invalid response received from motor 7. Wrong packet prefix []

^C[robot_state_publisher-7] killing on exit [robot_pose_ekf-6] killing on exit [spur/spur_base_controller-5] killing on exit [spur/spur_controller_manager-2] killing on exit [INFO] [WallTime: 1425528363.295614] Stop base controller Exception in thread Thread-5: Traceback (most recent call last): File "/usr/lib/python2.7/threading.py", line 810, in bootstrap_inner self.run() File "/usr/lib/python2.7/threading.py", line 763, in run self.__target(_self.args, *_self.kwargs) File "/home/rostam/cws_spur/src/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_serial_proxy.py", line 247, in update_motor_states self.motor_states_pub.publish(msl) File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/topics.py", line 834, in publish self.impl.publish(data) File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/topics.py", line 993, in publish raise ROSException("publish() to a closed topic") ROSException: publish() to a closed topic

— Reply to this email directly or view it on GitHub https://github.com/tork-a/spur/issues/4#issuecomment-77303364.

534o commented 9 years ago

By the way, did you test if released version and developed version of dynamixel_motor works on Servo Motor which we bought last month?

◉ Kei Okada

2015/03/05 14:06、Kei Okada notifications@github.com のメッセージ:

please use released version,

◉ Kei Okada

On Thu, Mar 5, 2015 at 1:10 PM, Isaac I.Y. Saito notifications@github.com wrote:

Not sure how significant is this error but with arebgun/dynamixel_motor@ c48aaee https://github.com/arebgun/dynamixel_motor/commit/c48aaee22686f7e1028168f995ae27546e2493ec the error still occurs but the motors seem to be working.

$ roslaunch spur_controller spur_controller.launch ... logging to /home/rostam/.ros/log/e30190b0-c2ea-11e4-8535-f816542d218e/roslaunch-tork-kudu1-13345.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://tork-kudu1:33240/

SUMMARY

PARAMETERS

  • /robot_description: <?xml version="1....
  • /robot_pose_ekf/debug: True
  • /robot_pose_ekf/freq: 30.0
  • /robot_pose_ekf/imu_used: False
  • /robot_pose_ekf/odom_used: True
  • /robot_pose_ekf/output_frame: odom
  • /robot_pose_ekf/self_diagnose: False
  • /robot_pose_ekf/sensor_timeout: 1.0
  • /robot_pose_ekf/vo_used: False
  • /rosdistro: indigo
  • /rosversion: 1.11.10
  • /spur/bl_rotation_joint_position_controller/controller/module: joint_position_co...
  • /spur/bl_rotation_joint_position_controller/controller/package: dynamixel_control...
  • /spur/bl_rotation_joint_position_controller/controller/type: JointPositionCont...
  • /spur/bl_rotation_joint_position_controller/joint_name: bl_rotation_joint
  • /spur/bl_rotation_joint_position_controller/joint_speed: 2.0
  • /spur/bl_rotation_joint_position_controller/motor/id: 2
  • /spur/bl_rotation_joint_position_controller/motor/init: 2048
  • /spur/bl_rotation_joint_position_controller/motor/max: 4095
  • /spur/bl_rotation_joint_position_controller/motor/min: 0
  • /spur/bl_wheel_joint_velocity_controller/controller/module: joint_torque_cont...
  • /spur/bl_wheel_joint_velocity_controller/controller/package: dynamixel_control...
  • /spur/bl_wheel_joint_velocity_controller/controller/type: JointTorqueContro...
  • /spur/bl_wheel_joint_velocity_controller/joint_name: bl_wheel_joint
  • /spur/bl_wheel_joint_velocity_controller/joint_speed: 2.0
  • /spur/bl_wheel_joint_velocity_controller/motor/id: 6
  • /spur/bl_wheel_joint_velocity_controller/motor/init: 0
  • /spur/bl_wheel_joint_velocity_controller/motor/max: 1024
  • /spur/bl_wheel_joint_velocity_controller/motor/min: -1024
  • /spur/br_rotation_joint_position_controller/controller/module: joint_position_co...
  • /spur/br_rotation_joint_position_controller/controller/package: dynamixel_control...
  • /spur/br_rotation_joint_position_controller/controller/type: JointPositionCont...
  • /spur/br_rotation_joint_position_controller/joint_name: br_rotation_joint
  • /spur/br_rotation_joint_position_controller/joint_speed: 2.0
  • /spur/br_rotation_joint_position_controller/motor/id: 3
  • /spur/br_rotation_joint_position_controller/motor/init: 2048
  • /spur/br_rotation_joint_position_controller/motor/max: 4095
  • /spur/br_rotation_joint_position_controller/motor/min: 0
  • /spur/br_wheel_joint_velocity_controller/controller/module: joint_torque_cont...
  • /spur/br_wheel_joint_velocity_controller/controller/package: dynamixel_control...
  • /spur/br_wheel_joint_velocity_controller/controller/type: JointTorqueContro...
  • /spur/br_wheel_joint_velocity_controller/joint_name: br_wheel_joint
  • /spur/br_wheel_joint_velocity_controller/joint_speed: 2.0
  • /spur/br_wheel_joint_velocity_controller/motor/id: 7
  • /spur/br_wheel_joint_velocity_controller/motor/init: 0
  • /spur/br_wheel_joint_velocity_controller/motor/max: 1024
  • /spur/br_wheel_joint_velocity_controller/motor/min: -1024
  • /spur/fl_rotation_joint_position_controller/controller/module: joint_position_co...
  • /spur/fl_rotation_joint_position_controller/controller/package: dynamixel_control...
  • /spur/fl_rotation_joint_position_controller/controller/type: JointPositionCont...
  • /spur/fl_rotation_joint_position_controller/joint_name: fl_rotation_joint
  • /spur/fl_rotation_joint_position_controller/joint_speed: 2.0
  • /spur/fl_rotation_joint_position_controller/motor/id: 1
  • /spur/fl_rotation_joint_position_controller/motor/init: 2048
  • /spur/fl_rotation_joint_position_controller/motor/max: 4095
  • /spur/fl_rotation_joint_position_controller/motor/min: 0
  • /spur/fl_wheel_joint_velocity_controller/controller/module: joint_torque_cont...
  • /spur/fl_wheel_joint_velocity_controller/controller/package: dynamixel_control...
  • /spur/fl_wheel_joint_velocity_controller/controller/type: JointTorqueContro...
  • /spur/fl_wheel_joint_velocity_controller/joint_name: fl_wheel_joint
  • /spur/fl_wheel_joint_velocity_controller/joint_speed: 2.0
  • /spur/fl_wheel_joint_velocity_controller/motor/id: 5
  • /spur/fl_wheel_joint_velocity_controller/motor/init: 0
  • /spur/fl_wheel_joint_velocity_controller/motor/max: 1024
  • /spur/fl_wheel_joint_velocity_controller/motor/min: -1024
  • /spur/fr_rotation_joint_position_controller/controller/module: joint_position_co...
  • /spur/fr_rotation_joint_position_controller/controller/package: dynamixel_control...
  • /spur/fr_rotation_joint_position_controller/controller/type: JointPositionCont...
  • /spur/fr_rotation_joint_position_controller/joint_name: fr_rotation_joint
  • /spur/fr_rotation_joint_position_controller/joint_speed: 2.0
  • /spur/fr_rotation_joint_position_controller/motor/id: 4
  • /spur/fr_rotation_joint_position_controller/motor/init: 2048
  • /spur/fr_rotation_joint_position_controller/motor/max: 4095
  • /spur/fr_rotation_joint_position_controller/motor/min: 0
  • /spur/fr_wheel_joint_velocity_controller/controller/module: joint_torque_cont...
  • /spur/fr_wheel_joint_velocity_controller/controller/package: dynamixel_control...
  • /spur/fr_wheel_joint_velocity_controller/controller/type: JointTorqueContro...
  • /spur/fr_wheel_joint_velocity_controller/joint_name: fr_wheel_joint
  • /spur/fr_wheel_joint_velocity_controller/joint_speed: 2.0
  • /spur/fr_wheel_joint_velocity_controller/motor/id: 8
  • /spur/fr_wheel_joint_velocity_controller/motor/init: 0
  • /spur/fr_wheel_joint_velocity_controller/motor/max: 1024
  • /spur/fr_wheel_joint_velocity_controller/motor/min: -1024
  • /spur/joint_state_publisher/controller/module: joint_state_publi...
  • /spur/joint_state_publisher/controller/package: dynamixel_control...
  • /spur/joint_state_publisher/controller/type: JointStatePublisher
  • /spur/larm_elbow_p_joint_position_controller/controller/module: joint_position_co...
  • /spur/larm_elbow_p_joint_position_controller/controller/package: dynamixel_control...
  • /spur/larm_elbow_p_joint_position_controller/controller/type: JointPositionCont...
  • /spur/larm_elbow_p_joint_position_controller/joint_name: larm_elbow_p_joint
  • /spur/larm_elbow_p_joint_position_controller/joint_speed: 2.0
  • /spur/larm_elbow_p_joint_position_controller/motor/id: 9
  • /spur/larm_elbow_p_joint_position_controller/motor/init: 2048
  • /spur/larm_elbow_p_joint_position_controller/motor/max: 4095
  • /spur/larm_elbow_p_joint_position_controller/motor/min: 0
  • /spur/larm_shoulder_p_joint_position_controller/controller/module: joint_position_co...
  • /spur/larm_shoulder_p_joint_position_controller/controller/package: dynamixel_control...
  • /spur/larm_shoulder_p_joint_position_controller/controller/type: JointPositionCont...
  • /spur/larm_shoulder_p_joint_position_controller/joint_name: larm_shoulder_p_j...
  • /spur/larm_shoulder_p_joint_position_controller/joint_speed: 2.0
  • /spur/larm_shoulder_p_joint_position_controller/motor/id: 10
  • /spur/larm_shoulder_p_joint_position_controller/motor/init: 2048
  • /spur/larm_shoulder_p_joint_position_controller/motor/max: 4095
  • /spur/larm_shoulder_p_joint_position_controller/motor/min: 0
  • /spur/larm_shoulder_r_joint_position_controller/controller/module: joint_position_co...
  • /spur/larm_shoulder_r_joint_position_controller/controller/package: dynamixel_control...
  • /spur/larm_shoulder_r_joint_position_controller/controller/type: JointPositionCont...
  • /spur/larm_shoulder_r_joint_position_controller/joint_name: larm_shoulder_r_j...
  • /spur/larm_shoulder_r_joint_position_controller/joint_speed: 2.0
  • /spur/larm_shoulder_r_joint_position_controller/motor/id: 11
  • /spur/larm_shoulder_r_joint_position_controller/motor/init: 2048
  • /spur/larm_shoulder_r_joint_position_controller/motor/max: 4095
  • /spur/larm_shoulder_r_joint_position_controller/motor/min: 0
  • /spur/larm_shoulder_y_joint_position_controller/controller/module: joint_position_co...
  • /spur/larm_shoulder_y_joint_position_controller/controller/package: dynamixel_control...
  • /spur/larm_shoulder_y_joint_position_controller/controller/type: JointPositionCont...
  • /spur/larm_shoulder_y_joint_position_controller/joint_name: larm_shoulder_y_j...
  • /spur/larm_shoulder_y_joint_position_controller/joint_speed: 2.0
  • /spur/larm_shoulder_y_joint_position_controller/motor/id: 12
  • /spur/larm_shoulder_y_joint_position_controller/motor/init: 2048
  • /spur/larm_shoulder_y_joint_position_controller/motor/max: 4095
  • /spur/larm_shoulder_y_joint_position_controller/motor/min: 0
  • /spur/larm_wrist_p_joint_position_controller/controller/module: joint_position_co...
  • /spur/larm_wrist_p_joint_position_controller/controller/package: dynamixel_control...
  • /spur/larm_wrist_p_joint_position_controller/controller/type: JointPositionCont...
  • /spur/larm_wrist_p_joint_position_controller/joint_name: larm_wrist_p_joint
  • /spur/larm_wrist_p_joint_position_controller/joint_speed: 2.0
  • /spur/larm_wrist_p_joint_position_controller/motor/id: 13
  • /spur/larm_wrist_p_joint_position_controller/motor/init: 2048
  • /spur/larm_wrist_p_joint_position_controller/motor/max: 4095
  • /spur/larm_wrist_p_joint_position_controller/motor/min: 0
  • /spur/larm_wrist_r_joint_position_controller/controller/module: joint_position_co...
  • /spur/larm_wrist_r_joint_position_controller/controller/package: dynamixel_control...
  • /spur/larm_wrist_r_joint_position_controller/controller/type: JointPositionCont...
  • /spur/larm_wrist_r_joint_position_controller/joint_name: larm_wrist_r_joint
  • /spur/larm_wrist_r_joint_position_controller/joint_speed: 2.0
  • /spur/larm_wrist_r_joint_position_controller/motor/id: 14
  • /spur/larm_wrist_r_joint_position_controller/motor/init: 2048
  • /spur/larm_wrist_r_joint_position_controller/motor/max: 4095
  • /spur/larm_wrist_r_joint_position_controller/motor/min: 0
  • /spur/rarm_elbow_p_joint_position_controller/controller/module: joint_position_co...
  • /spur/rarm_elbow_p_joint_position_controller/controller/package: dynamixel_control...
  • /spur/rarm_elbow_p_joint_position_controller/controller/type: JointPositionCont...
  • /spur/rarm_elbow_p_joint_position_controller/joint_name: rarm_elbow_p_joint
  • /spur/rarm_elbow_p_joint_position_controller/joint_speed: 2.0
  • /spur/rarm_elbow_p_joint_position_controller/motor/id: 15
  • /spur/rarm_elbow_p_joint_position_controller/motor/init: 2048
  • /spur/rarm_elbow_p_joint_position_controller/motor/max: 4095
  • /spur/rarm_elbow_p_joint_position_controller/motor/min: 0
  • /spur/rarm_shoulder_p_joint_position_controller/controller/module: joint_position_co...
  • /spur/rarm_shoulder_p_joint_position_controller/controller/package: dynamixel_control...
  • /spur/rarm_shoulder_p_joint_position_controller/controller/type: JointPositionCont...
  • /spur/rarm_shoulder_p_joint_position_controller/joint_name: rarm_shoulder_p_j...
  • /spur/rarm_shoulder_p_joint_position_controller/joint_speed: 2.0
  • /spur/rarm_shoulder_p_joint_position_controller/motor/id: 16
  • /spur/rarm_shoulder_p_joint_position_controller/motor/init: 2048
  • /spur/rarm_shoulder_p_joint_position_controller/motor/max: 4095
  • /spur/rarm_shoulder_p_joint_position_controller/motor/min: 0
  • /spur/rarm_shoulder_r_joint_position_controller/controller/module: joint_position_co...
  • /spur/rarm_shoulder_r_joint_position_controller/controller/package: dynamixel_control...
  • /spur/rarm_shoulder_r_joint_position_controller/controller/type: JointPositionCont...
  • /spur/rarm_shoulder_r_joint_position_controller/joint_name: rarm_shoulder_r_j...
  • /spur/rarm_shoulder_r_joint_position_controller/joint_speed: 2.0
  • /spur/rarm_shoulder_r_joint_position_controller/motor/id: 17
  • /spur/rarm_shoulder_r_joint_position_controller/motor/init: 2048
  • /spur/rarm_shoulder_r_joint_position_controller/motor/max: 4095
  • /spur/rarm_shoulder_r_joint_position_controller/motor/min: 0
  • /spur/rarm_shoulder_y_joint_position_controller/controller/module: joint_position_co...
  • /spur/rarm_shoulder_y_joint_position_controller/controller/package: dynamixel_control...
  • /spur/rarm_shoulder_y_joint_position_controller/controller/type: JointPositionCont...
  • /spur/rarm_shoulder_y_joint_position_controller/joint_name: rarm_shoulder_y_j...
  • /spur/rarm_shoulder_y_joint_position_controller/joint_speed: 2.0
  • /spur/rarm_shoulder_y_joint_position_controller/motor/id: 18
  • /spur/rarm_shoulder_y_joint_position_controller/motor/init: 2048
  • /spur/rarm_shoulder_y_joint_position_controller/motor/max: 4095
  • /spur/rarm_shoulder_y_joint_position_controller/motor/min: 0
  • /spur/rarm_wrist_p_joint_position_controller/controller/module: joint_position_co...
  • /spur/rarm_wrist_p_joint_position_controller/controller/package: dynamixel_control...
  • /spur/rarm_wrist_p_joint_position_controller/controller/type: JointPositionCont...
  • /spur/rarm_wrist_p_joint_position_controller/joint_name: rarm_wrist_p_joint
  • /spur/rarm_wrist_p_joint_position_controller/joint_speed: 2.0
  • /spur/rarm_wrist_p_joint_position_controller/motor/id: 19
  • /spur/rarm_wrist_p_joint_position_controller/motor/init: 2048
  • /spur/rarm_wrist_p_joint_position_controller/motor/max: 4095
  • /spur/rarm_wrist_p_joint_position_controller/motor/min: 0
  • /spur/rarm_wrist_r_joint_position_controller/controller/module: joint_position_co...
  • /spur/rarm_wrist_r_joint_position_controller/controller/package: dynamixel_control...
  • /spur/rarm_wrist_r_joint_position_controller/controller/type: JointPositionCont...
  • /spur/rarm_wrist_r_joint_position_controller/joint_name: rarm_wrist_r_joint
  • /spur/rarm_wrist_r_joint_position_controller/joint_speed: 2.0
  • /spur/rarm_wrist_r_joint_position_controller/motor/id: 20
  • /spur/rarm_wrist_r_joint_position_controller/motor/init: 2048
  • /spur/rarm_wrist_r_joint_position_controller/motor/max: 4095
  • /spur/rarm_wrist_r_joint_position_controller/motor/min: 0
  • /spur/spur_controller_manager/diagnostics_rate: 2
  • /spur/spur_controller_manager/namespace: spur_controller_m...
  • /spur/spur_controller_manager/serial_ports/dynamixel_MX106/baud_rate: 1000000
  • /spur/spur_controller_manager/serial_ports/dynamixel_MX106/diagnostics/error_level_temp: 70
  • /spur/spur_controller_manager/serial_ports/dynamixel_MX106/diagnostics/warn_level_temp: 65
  • /spur/spur_controller_manager/serial_ports/dynamixel_MX106/max_motor_id: 8
  • /spur/spur_controller_manager/serial_ports/dynamixel_MX106/min_motor_id: 1
  • /spur/spur_controller_manager/serial_ports/dynamixel_MX106/port_name: /dev/ttyUSB0
  • /spur/spur_controller_manager/serial_ports/dynamixel_MX106/update_rate: 20

NODES /spur/ dynamixel_controller_spawner_MX106 (dynamixel_controllers/controller_spawner.py) joint_state_publisher_spawner (dynamixel_controllers/controller_spawner.py) spur_base_controller (spur_controller/base_controller.py) spur_controller_manager (dynamixel_controllers/controller_manager.py) / robot_pose_ekf (robot_pose_ekf/robot_pose_ekf) robot_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master process[master]: started with pid [13360] ROS_MASTER_URI=http://localhost:11311

setting /run_id to e30190b0-c2ea-11e4-8535-f816542d218e process[rosout-1]: started with pid [13373] started core service [/rosout] process[spur/spur_controller_manager-2]: started with pid [13390] process[spur/dynamixel_controller_spawner_MX106-3]: started with pid [13393] process[spur/joint_state_publisher_spawner-4]: started with pid [13397] process[spur/spur_base_controller-5]: started with pid [13402] [INFO] [WallTime: 1425527483.238952] dynamixel_MX106 controller_spawner: waiting for controller_manager spur_controller_manager to startup in /spur/ namespace... process[robot_pose_ekf-6]: started with pid [13416] /home/rostam/cws_spur/src/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_serial_proxy.py:94: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information. self.motor_states_pub = rospy.Publisher('motor_states/%s' % self.port_namespace, MotorStateList, queue_size=None) /home/rostam/cws_spur/src/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_serial_proxy.py:95: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information. self.diagnostics_pub = rospy.Publisher('/diagnostics', DiagnosticArray, queue_size=None) [INFO] [WallTime: 1425527483.408765] dynamixel_MX106: Pinging motor IDs 1 through 8... [INFO] [WallTime: 1425527483.449456] meta controller_spawner: waiting for controller_manager spur_controller_manager to startup in /spur/ namespace... process[robot_state_publisher-7]: started with pid [13568] /opt/ros/indigo/lib/robot_state_publisher/robot_state_publisher [INFO] [WallTime: 1425527483.636597] dynamixel_MX106: Found 8 motors - 8 MX-106 [1, 2, 3, 4, 5, 6, 7, 8], initialization complete. /home/rostam/cws_spur/src/dynamixel_motor/dynamixel_controllers/nodes/controller_manager.py:131: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information. self.diagnostics_pub = rospy.Publisher('/diagnostics', DiagnosticArray) [INFO] [WallTime: 1425527483.754247] meta controller_spawner: All services are up, spawning controllers... [WARN] [WallTime: 1425527483.762601] [joint_state_publisher] not all dependencies started, still waiting for ['bl_rotation_joint_position_controller', 'br_rotation_joint_position_controller', 'br_wheel_joint_velocity_controller', 'fl_wheel_joint_velocity_controller', 'fr_wheel_joint_velocity_controller', 'fr_rotation_joint_position_controller', 'bl_wheel_joint_velocity_controller', 'fl_rotation_joint_position_controller']... [INFO] [WallTime: 1425527483.763043] [INFO] [WallTime: 1425527483.845152] dynamixel_MX106 controller_spawner: All services are up, spawning controllers... /home/rostam/cws_spur/src/dynamixel_motor/dynamixel_controllers/src/dynamixel_controllers/joint_controller.py:108: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information. self.joint_state_pub = rospy.Publisher(self.controller_namespace + '/state', JointState, queue_size=None) [WARN] [WallTime: 1425527483.875892] [joint_state_publisher] not all dependencies started, still waiting for ['bl_rotation_joint_position_controller', 'br_rotation_joint_position_controller', 'br_wheel_joint_velocity_controller', 'fl_wheel_joint_velocity_controller', 'fr_wheel_joint_velocity_controller', 'fr_rotation_joint_position_controller', 'bl_wheel_joint_velocity_controller']... [INFO] [WallTime: 1425527483.876321] Controller fl_rotation_joint_position_controller successfully started. [WARN] [WallTime: 1425527483.900111] [joint_state_publisher] not all dependencies started, still waiting for ['br_rotation_joint_position_controller', 'br_wheel_joint_velocity_controller', 'fl_wheel_joint_velocity_controller', 'fr_wheel_joint_velocity_controller', 'fr_rotation_joint_position_controller', 'bl_wheel_joint_velocity_controller']... [INFO] [WallTime: 1425527483.900638] Controller bl_rotation_joint_position_controller successfully started. [WARN] [WallTime: 1425527483.925389] [joint_state_publisher] not all dependencies started, still waiting for ['br_wheel_joint_velocity_controller', 'fl_wheel_joint_velocity_controller', 'fr_wheel_joint_velocity_controller', 'fr_rotation_joint_position_controller', 'bl_wheel_joint_velocity_controller']... [INFO] [WallTime: 1425527483.925807] Controller br_rotation_joint_position_controller successfully started. [WARN] [WallTime: 1425527483.955992] [joint_state_publisher] not all dependencies started, still waiting for ['br_wheel_joint_velocity_controller', 'fl_wheel_joint_velocity_controller', 'fr_wheel_joint_velocity_controller', 'bl_wheel_joint_velocity_controller']... [INFO] [WallTime: 1425527483.956445] Controller fr_rotation_joint_position_controller successfully started. [WARN] [WallTime: 1425527483.977355] [joint_state_publisher] not all dependencies started, still waiting for ['br_wheel_joint_velocity_controller', 'fr_wheel_joint_velocity_controller', 'bl_wheel_joint_velocity_controller']... [INFO] [WallTime: 1425527483.977727] Controller fl_wheel_joint_velocity_controller successfully started. [spur/joint_state_publisher_spawner-4] process has finished cleanly log file: /home/rostam/.ros/log/e30190b0-c2ea-11e4-8535-f816542d218e/spur-joint_state_publisherspawner-4.log [WARN] [WallTime: 1425527484.001281] [joint_state_publisher] not all dependencies started, still waiting for ['br_wheel_joint_velocity_controller', 'fr_wheel_joint_velocity_controller']... [INFO] [WallTime: 1425527484.001691] Controller bl_wheel_jointvelocity controller successfully started. [WARN] [WallTime: 1425527484.022211] [joint_state_publisher] not all dependencies started, still waiting for ['fr_wheel_joint_velocity_controller']... [INFO] [WallTime: 1425527484.022693] Controller br_wheel_joint_velocity_controller successfully started. [INFO] [WallTime: 1425527484.045974] Controller fr_wheel_joint_velocity_controller successfully started. [spur/dynamixel_controller_spawner_MX106-3] process has finished cleanly log file: /home/rostam/.ros/log/e30190b0-c2ea-11e4-8535-f816542d218e/spur-dynamixel_controller_spawnerMX106-3.log [INFO] [WallTime: 1425527485.059876] Start base controller Exception in thread Thread-26: Traceback (most recent call last): File "/usr/lib/python2.7/threading.py", line 810, in bootstrap_inner self.run() File "/usr/lib/python2.7/threading.py", line 763, in run self.__target(_self.args, *_self.kwargs) File "/home/rostam/cws_spur/src/dynamixel_motor/dynamixel_controllers/src/dynamixel_controllers/joint_state_publisher.py", line 100, in update_state File "/home/rostam/cws_spur/src/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_io.py", line 891, in get_current model = self.get_model_number(servo_id) File "/home/rostam/cws_spur/src/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_io.py", line 809, in get_model_number response = self.read(servo_id, DXL_MODEL_NUMBER_L, 2) File "/home/rostam/cws_spur/src/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_io.py", line 141, in read data = self.read_response(servo_id) File "/home/rostam/cws_spur/src/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_io.py", line 104, in __read_response raise DroppedPacketError('Invalid response received from motor %d. %s' % (servo_id, e)) DroppedPacketError: Invalid response received from motor 7. Wrong packet prefix []

^C[robot_state_publisher-7] killing on exit [robot_pose_ekf-6] killing on exit [spur/spur_base_controller-5] killing on exit [spur/spur_controller_manager-2] killing on exit [INFO] [WallTime: 1425528363.295614] Stop base controller Exception in thread Thread-5: Traceback (most recent call last): File "/usr/lib/python2.7/threading.py", line 810, in bootstrap_inner self.run() File "/usr/lib/python2.7/threading.py", line 763, in run self.__target(_self.args, *_self.kwargs) File "/home/rostam/cws_spur/src/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_serial_proxy.py", line 247, in update_motor_states self.motor_states_pub.publish(msl) File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/topics.py", line 834, in publish self.impl.publish(data) File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/topics.py", line 993, in publish raise ROSException("publish() to a closed topic") ROSException: publish() to a closed topic

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