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unitreerobotics / unitree_actuator_sdk

BSD 3-Clause "New" or "Revised" License
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Is it work for Jetson nano? #6

Closed Calmsk02 closed 1 year ago

Calmsk02 commented 1 year ago

Hi. I'm trying to control A1 motor with Jetson nano board (ubuntu20.04). When I built the code, the following error comes up, "IOException (2) : No such file or directory, file /home/pi/Desktop/src_unitree_actuator_sdk/src/SerialPort.cpp, line 249."

I think that path is define in the library file, and it is for the Raspberry Pi. So, my question is, does this SDK support for jetson nano? If not, is there any way to control A1 motor with jetson nano?

xiaoliangstd commented 1 year ago

Hello, the A1 motor can be controlled by Jeston Nano. The error may be caused by the improperly connected USB-485 module. You can also try using an IO port isolator to connect the USB-485 module.

Calmsk02 commented 1 year ago

Thanks for reply. I used the enclosed USB-485 module. For the first few seconds, it prints the motor data on the terminal well. However, after few seconds, the below warnings are shown ''' [WARNING] SerialPort::recv, unblock version, wait time out [WARNING] SerialPort::recv, unblock version, received 67 bytes, but not 78 bytes. '''

And then connection is failed(program aborted) and no more connection with the below error. ''' IOException (2) : No such file or directory, file /home/pi/Desktop/src_unitree_actuator_sdk/src/SerialPort.cpp, line 249. '''

After that, I tryed plug in the usb-485 module again. Then, it is connected and disconnected after few seconds, again.

I don't know what is the problem.... Thanks for your suggestion. I'll try using IO port isolator.

xiaoliangstd commented 1 year ago

That is confusing indeed, However, you can try using a USB hub or USB isolator to connect the USB-485 module and see if it solves the problem.

xiaoliangstd commented 1 year ago

By the way, what's the voltage and current of your power supply?

Calmsk02 commented 1 year ago

I'm using 30V/10A one. There are no problem when I connect it to my laptop with same configuration. Only Jetson nano has problem..

When I checked communication speed with "stty" command, the speed was 0 baud, while other sensor(like, IMU) showed 9600 baud. So.. I think it is not the problem with /dev/ttyUSB0 port.

I just guess that the USB-rs485 module is not fit for my jetson, so I'm going to try with other module that enables rs485 communication.

Calmsk02 commented 1 year ago

I tried with USB-hub, and the problem solved!! Still don't understand why It didn't work, anyway, I'm happy now. Thanks for your kindness :)

xiaoliangstd commented 1 year ago

I tried with USB-hub, and the problem solved!! Still don't understand why It didn't work, anyway, I'm happy now. Thanks for your kindness :)

haha, me too! that is the solution from hardware engineer.