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wuphilipp / gello_software

MIT License
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Modbus Error: [Connection] Failed to connect[ModbusSerialClient(rtu baud[115200])] #16

Open kmbashayan opened 2 months ago

kmbashayan commented 2 months ago

whenever I try to connect the gello with the UR5e arm, I run into this error: in ur robot in ur robot in ur robot in ur robot Unable to connect to /tmp/ttyUR Traceback (most recent call last): File "/home/kholoudbashayan/GitHub/gello_software/gello/robots/robotiq_gripper.py", line 75, in sendCommand self.client.write_registers(0x03E8, message, unit=0x0009) File "/home/kholoudbashayan/miniconda3/envs/gello/lib/python3.8/site-packages/pymodbus/client/common.py", line 103, in write_registers return self.execute(request) File "/home/kholoudbashayan/miniconda3/envs/gello/lib/python3.8/site-packages/pymodbus/client/sync.py", line 105, in execute raise ConnectionException("Failed to connect[%s]" % (self.str())) pymodbus.exceptions.ConnectionException: Modbus Error: [Connection] Failed to connect[ModbusSerialClient(rtu baud[115200])]

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "experiments/launch_nodes.py", line 94, in main(tyro.cli(Args)) File "experiments/launch_nodes.py", line 90, in main launch_robot_server(args) File "experiments/launch_nodes.py", line 65, in launch_robot_server robot = URRobot(robot_ip=args.robot_ip, no_gripper=args.no_gripper) File "/home/kholoudbashayan/GitHub/gello_software/gello/robots/ur.py", line 30, in init self.gripper.connect(device="/tmp/ttyUR") File "/home/kholoudbashayan/GitHub/gello_software/gello/robots/robotiq_gripper.py", line 263, in connect self._reset() File "/home/kholoudbashayan/GitHub/gello_software/gello/robots/robotiq_gripper.py", line 369, in _reset self.gripper.sendCommand() File "/home/kholoudbashayan/GitHub/gello_software/gello/robots/robotiq_gripper.py", line 169, in sendCommand self.client.sendCommand(self.message) File "/home/kholoudbashayan/GitHub/gello_software/gello/robots/robotiq_gripper.py", line 77, in sendCommand raise WriteGripperError("Failed to write to registers of gripper") gello.robots.robotiq_gripper.WriteGripperError: Failed to write to registers of gripper

wuphilipp commented 1 month ago

Humm I'm not sure about this exact issue. As i have not worked directly with the UR5e robotics. Are you able to run the robotiq_gripper.py as a stand alone script to control just the gripper?