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[ERROR] Can't find DYNAMIXEL #16

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HuaYuXiao opened this issue Dec 25, 2023 · 0 comments
Open

[ERROR] Can't find DYNAMIXEL #16

HuaYuXiao opened this issue Dec 25, 2023 · 0 comments
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HuaYuXiao commented Dec 25, 2023 •
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tony@iqr-turtlebot4-121:~$ ros2 launch iqr_tb4_bringup bringup.launch.py
[INFO] [launch]: All log files can be found below /home/tony/.ros/log/2023-12-25-18-33-34-288516-iqr-turtlebot4-121-24180
[INFO] [launch]: Default logging verbosity is set to INFO
/opt/ros/humble/lib/python3.10/site-packages/launch_ros/events/lifecycle/lifecycle_node_matchers.py:30: UserWarning: 'matches_node_name' has been moved into the 'launch.events' module and will be removed from the 'lifecycle' module in the future
  warnings.warn(
/opt/ros/humble/lib/python3.10/site-packages/launch_ros/events/lifecycle/lifecycle_node_matchers.py:30: UserWarning: 'matches_node_name' has been moved into the 'launch.events' module and will be removed from the 'lifecycle' module in the future
  warnings.warn(
[INFO] [realsense2_camera_node-7]: process started with pid [24282]
[INFO] [xs_sdk-1]: process started with pid [24270]
[INFO] [robot_state_publisher-2]: process started with pid [24272]
[INFO] [serial_bridge-3]: process started with pid [24274]
[INFO] [modbus_rtu_driver-4]: process started with pid [24276]
[INFO] [rplidar_node-5]: process started with pid [24278]
[INFO] [PanTiltDriverNode-6]: process started with pid [24280]
[INFO] [static_transform_publisher-8]: process started with pid [24311]
[INFO] [static_transform_publisher-9]: process started with pid [24329]
[xs_sdk-1] [INFO] Using Interbotix X-Series Driver Version: 'v0.3.3'.
[xs_sdk-1] [INFO] Using logging level 'INFO'.
[xs_sdk-1] [INFO] Loaded mode configs from '/home/tony/ros2_ws/install/interbotix_xsarm_control/share/interbotix_xsarm_control/config/modes.yaml'.
[xs_sdk-1] [INFO] Loaded motor configs from '/home/tony/ros2_ws/install/interbotix_xsarm_control/share/interbotix_xsarm_control/config/px100.yaml'.
[xs_sdk-1] [INFO] Pinging all motors specified in the motor_config file. (Attempt 1/3)
[xs_sdk-1] [INFO] 	Found DYNAMIXEL ID:  4, Model: 'XL430-W250', Joint Name: 'wrist_angle'.
[rplidar_node-5] [INFO] [1703500415.220113402] [rplidar_node]: RPLidar running on ROS2 package rplidar_ros. RPLIDAR SDK Version:2.0.0
[robot_state_publisher-2] [WARN] [1703500415.252931745] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-2] [INFO] [1703500415.254705432] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1703500415.255405062] [robot_state_publisher]: got segment bump_front_center
[static_transform_publisher-8] [INFO] [1703500415.261533525] [left_wheel_drop_stf]: Spinning until stopped - publishing transform
[static_transform_publisher-8] translation: ('0.000000', '0.116500', '0.040200')
[static_transform_publisher-8] rotation: ('-0.707073', '0.000000', '0.000000', '0.707141')
[static_transform_publisher-8] from 'base_link' to 'wheel_drop_left'
[robot_state_publisher-2] [INFO] [1703500415.263304230] [robot_state_publisher]: got segment bump_front_left
[robot_state_publisher-2] [INFO] [1703500415.263824870] [robot_state_publisher]: got segment bump_front_right
[robot_state_publisher-2] [INFO] [1703500415.266123600] [robot_state_publisher]: got segment bump_left
[robot_state_publisher-2] [INFO] [1703500415.268434160] [robot_state_publisher]: got segment bump_right
[robot_state_publisher-2] [INFO] [1703500415.273116042] [robot_state_publisher]: got segment bumper
[serial_bridge-3] [INFO] [1703500415.280325255] [IoContext::IoContext]: Thread(s) Created: 2
[robot_state_publisher-2] [INFO] [1703500415.281443470] [robot_state_publisher]: got segment button_1
[robot_state_publisher-2] [INFO] [1703500415.281455590] [robot_state_publisher]: got segment button_2
[robot_state_publisher-2] [INFO] [1703500415.281461523] [robot_state_publisher]: got segment button_power
[robot_state_publisher-2] [INFO] [1703500415.281467560] [robot_state_publisher]: got segment camera_bottom_screw_frame
[robot_state_publisher-2] [INFO] [1703500415.281473309] [robot_state_publisher]: got segment camera_color_frame
[robot_state_publisher-2] [INFO] [1703500415.281479459] [robot_state_publisher]: got segment camera_color_optical_frame
[robot_state_publisher-2] [INFO] [1703500415.281484948] [robot_state_publisher]: got segment camera_depth_frame
[robot_state_publisher-2] [INFO] [1703500415.281490428] [robot_state_publisher]: got segment camera_depth_optical_frame
[robot_state_publisher-2] [INFO] [1703500415.281495858] [robot_state_publisher]: got segment camera_left_ir_frame
[robot_state_publisher-2] [INFO] [1703500415.281501201] [robot_state_publisher]: got segment camera_left_ir_optical_frame
[robot_state_publisher-2] [INFO] [1703500415.281506976] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-2] [INFO] [1703500415.281512350] [robot_state_publisher]: got segment camera_right_ir_frame
[robot_state_publisher-2] [INFO] [1703500415.281517972] [robot_state_publisher]: got segment camera_right_ir_optical_frame
[robot_state_publisher-2] [INFO] [1703500415.281523962] [robot_state_publisher]: got segment cliff_front_left
[robot_state_publisher-2] [INFO] [1703500415.281529567] [robot_state_publisher]: got segment cliff_front_right
[robot_state_publisher-2] [INFO] [1703500415.281534955] [robot_state_publisher]: got segment cliff_side_left
[robot_state_publisher-2] [INFO] [1703500415.281540548] [robot_state_publisher]: got segment cliff_side_right
[robot_state_publisher-2] [INFO] [1703500415.281545723] [robot_state_publisher]: got segment front_caster_link
[robot_state_publisher-2] [INFO] [1703500415.281551348] [robot_state_publisher]: got segment imu_extra_link
[robot_state_publisher-2] [INFO] [1703500415.281556676] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-2] [INFO] [1703500415.281562304] [robot_state_publisher]: got segment ir_intensity_front_center_left
[robot_state_publisher-2] [INFO] [1703500415.281567998] [robot_state_publisher]: got segment ir_intensity_front_center_right
[robot_state_publisher-2] [INFO] [1703500415.281573621] [robot_state_publisher]: got segment ir_intensity_front_left
[robot_state_publisher-2] [INFO] [1703500415.281579211] [robot_state_publisher]: got segment ir_intensity_front_right
[robot_state_publisher-2] [INFO] [1703500415.281585024] [robot_state_publisher]: got segment ir_intensity_left
[robot_state_publisher-2] [INFO] [1703500415.281590390] [robot_state_publisher]: got segment ir_intensity_right
[robot_state_publisher-2] [INFO] [1703500415.281596273] [robot_state_publisher]: got segment ir_intensity_side_left
[robot_state_publisher-2] [INFO] [1703500415.281601851] [robot_state_publisher]: got segment ir_omni
[robot_state_publisher-2] [INFO] [1703500415.281607424] [robot_state_publisher]: got segment laser_link
[robot_state_publisher-2] [INFO] [1703500415.281613022] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-2] [INFO] [1703500415.281618833] [robot_state_publisher]: got segment mouse
[robot_state_publisher-2] [INFO] [1703500415.281624445] [robot_state_publisher]: got segment pan_tilt_base_link
[robot_state_publisher-2] [INFO] [1703500415.281629814] [robot_state_publisher]: got segment pan_tilt_pitch_link
[robot_state_publisher-2] [INFO] [1703500415.281635437] [robot_state_publisher]: got segment pan_tilt_surface
[robot_state_publisher-2] [INFO] [1703500415.281640890] [robot_state_publisher]: got segment pan_tilt_yaw_link
[robot_state_publisher-2] [INFO] [1703500415.281646936] [robot_state_publisher]: got segment px100/base_link
[robot_state_publisher-2] [INFO] [1703500415.281652262] [robot_state_publisher]: got segment px100/ee_arm_link
[robot_state_publisher-2] [INFO] [1703500415.281657960] [robot_state_publisher]: got segment px100/ee_gripper_link
[robot_state_publisher-2] [INFO] [1703500415.281663643] [robot_state_publisher]: got segment px100/fingers_link
[robot_state_publisher-2] [INFO] [1703500415.281695415] [robot_state_publisher]: got segment px100/forearm_link
[robot_state_publisher-2] [INFO] [1703500415.281702529] [robot_state_publisher]: got segment px100/gripper_bar_link
[robot_state_publisher-2] [INFO] [1703500415.281707546] [robot_state_publisher]: got segment px100/gripper_link
[robot_state_publisher-2] [INFO] [1703500415.281712555] [robot_state_publisher]: got segment px100/gripper_prop_link
[robot_state_publisher-2] [INFO] [1703500415.281717919] [robot_state_publisher]: got segment px100/left_finger_link
[robot_state_publisher-2] [INFO] [1703500415.281723725] [robot_state_publisher]: got segment px100/right_finger_link
[robot_state_publisher-2] [INFO] [1703500415.281729313] [robot_state_publisher]: got segment px100/shoulder_link
[robot_state_publisher-2] [INFO] [1703500415.281734545] [robot_state_publisher]: got segment px100/upper_arm_link
[robot_state_publisher-2] [INFO] [1703500415.281739715] [robot_state_publisher]: got segment right_wheel
[robot_state_publisher-2] [INFO] [1703500415.281745715] [robot_state_publisher]: got segment top_fix_link
[robot_state_publisher-2] [INFO] [1703500415.281751142] [robot_state_publisher]: got segment wheel_drop_left
[robot_state_publisher-2] [INFO] [1703500415.281756513] [robot_state_publisher]: got segment wheel_drop_right
[xs_sdk-1] [ERROR] 	Can't find DYNAMIXEL ID:  3, Joint Name: 'elbow':
[xs_sdk-1] 		  '[TxRxResult] There is no status packet!'
[xs_sdk-1] [ERROR] 	Can't find DYNAMIXEL ID:  2, Joint Name: 'shoulder':
[xs_sdk-1] 		  '[TxRxResult] There is no status packet!'
[static_transform_publisher-9] [INFO] [1703500415.449508742] [right_wheel_drop_stf]: Spinning until stopped - publishing transform
[static_transform_publisher-9] translation: ('0.000000', '-0.116500', '0.040200')
[static_transform_publisher-9] rotation: ('-0.707073', '0.000000', '0.000000', '0.707141')
[static_transform_publisher-9] from 'base_link' to 'wheel_drop_right'
[xs_sdk-1] [ERROR] 	Can't find DYNAMIXEL ID:  5, Joint Name: 'gripper':
[xs_sdk-1] 		  '[TxRxResult] There is no status packet!'
[xs_sdk-1] [ERROR] 	Can't find DYNAMIXEL ID:  1, Joint Name: 'waist':
[xs_sdk-1] 		  '[TxRxResult] There is no status packet!'
[xs_sdk-1] [INFO] Pinging all motors specified in the motor_config file. (Attempt 2/3)
[xs_sdk-1] [ERROR] 	Can't find DYNAMIXEL ID:  4, Joint Name: 'wrist_angle':
[xs_sdk-1] 		  '[TxRxResult] There is no status packet!'
[PanTiltDriverNode-6] pan-tilt ID:1 ,port name:/dev/pan_tilt
[xs_sdk-1] [ERROR] 	Can't find DYNAMIXEL ID:  3, Joint Name: 'elbow':
[xs_sdk-1] 		  '[TxRxResult] There is no status packet!'
[realsense2_camera_node-7] [INFO] [1703500415.792714303] [camera.camera]: RealSense ROS v4.54.1
[realsense2_camera_node-7] [INFO] [1703500415.792831921] [camera.camera]: Built with LibRealSense v2.54.1
[realsense2_camera_node-7] [INFO] [1703500415.792847779] [camera.camera]: Running with LibRealSense v2.54.1
[realsense2_camera_node-7] [INFO] [1703500415.844084118] [camera.camera]: Device with serial number 231522071827 was found.
[realsense2_camera_node-7] 
[realsense2_camera_node-7] [INFO] [1703500415.844160809] [camera.camera]: Device with physical ID /sys/devices/pci0000:00/0000:00:14.0/usb4/4-3/4-3:1.0/video4linux/video0 was found.
[realsense2_camera_node-7] [INFO] [1703500415.844170454] [camera.camera]: Device with name Intel RealSense D435I was found.
[realsense2_camera_node-7] [INFO] [1703500415.844429611] [camera.camera]: Device with port number 4-3 was found.
[realsense2_camera_node-7] [INFO] [1703500415.844458835] [camera.camera]: Device USB type: 3.2
[realsense2_camera_node-7] [INFO] [1703500415.845179551] [camera.camera]: getParameters...
[realsense2_camera_node-7] [INFO] [1703500415.846255260] [camera.camera]: JSON file is not provided
[realsense2_camera_node-7] [INFO] [1703500415.846554294] [camera.camera]: Device Name: Intel RealSense D435I
[realsense2_camera_node-7] [INFO] [1703500415.846573560] [camera.camera]: Device Serial No: 231522071827
[realsense2_camera_node-7] [INFO] [1703500415.846589183] [camera.camera]: Device physical port: /sys/devices/pci0000:00/0000:00:14.0/usb4/4-3/4-3:1.0/video4linux/video0
[realsense2_camera_node-7] [INFO] [1703500415.846605124] [camera.camera]: Device FW version: 5.15.0.2
[realsense2_camera_node-7] [INFO] [1703500415.846620614] [camera.camera]: Device Product ID: 0x0B3A
[realsense2_camera_node-7] [INFO] [1703500415.846634029] [camera.camera]: Sync Mode: Off
[xs_sdk-1] [ERROR] 	Can't find DYNAMIXEL ID:  2, Joint Name: 'shoulder':
[xs_sdk-1] 		  '[TxRxResult] There is no status packet!'
[realsense2_camera_node-7] [INFO] [1703500415.900445682] [camera.camera]: Set ROS param depth_module.profile to default: 848x480x30
[realsense2_camera_node-7] [INFO] [1703500415.915979206] [camera.camera]: Set ROS param rgb_camera.profile to default: 1280x720x30
[realsense2_camera_node-7] [INFO] [1703500415.919771933] [camera.camera]: Set ROS param gyro_fps to default: 200
[realsense2_camera_node-7] [INFO] [1703500415.920817075] [camera.camera]: Set ROS param accel_fps to default: 100
[xs_sdk-1] [ERROR] 	Can't find DYNAMIXEL ID:  5, Joint Name: 'gripper':
[xs_sdk-1] 		  '[TxRxResult] There is no status packet!'
[realsense2_camera_node-7] [INFO] [1703500415.970627798] [camera.camera]: Stopping Sensor: Depth Module
[xs_sdk-1] [ERROR] 	Can't find DYNAMIXEL ID:  1, Joint Name: 'waist':
[xs_sdk-1] 		  '[TxRxResult] There is no status packet!'
[xs_sdk-1] [INFO] Pinging all motors specified in the motor_config file. (Attempt 3/3)
[realsense2_camera_node-7] [INFO] [1703500416.063684110] [camera.camera]: Starting Sensor: Depth Module
[xs_sdk-1] [ERROR] 	Can't find DYNAMIXEL ID:  4, Joint Name: 'wrist_angle':
[xs_sdk-1] 		  '[TxRxResult] There is no status packet!'
[realsense2_camera_node-7] [INFO] [1703500416.099084399] [camera.camera]: Open profile: stream_type: Depth(0), Format: Z16, Width: 848, Height: 480, FPS: 30
[realsense2_camera_node-7] [INFO] [1703500416.099194222] [camera.camera]: Stopping Sensor: RGB Camera
[realsense2_camera_node-7] [INFO] [1703500416.109474383] [camera.camera]: Starting Sensor: RGB Camera
[realsense2_camera_node-7] [INFO] [1703500416.113314646] [camera.camera]: Open profile: stream_type: Color(0), Format: RGB8, Width: 1280, Height: 720, FPS: 30
[modbus_rtu_driver-4] [INFO] [1703500416.115405192] [modbus_rtu_driver_node]: WitMotion ModbusRTU Driver
[realsense2_camera_node-7] [INFO] [1703500416.120107619] [camera.camera]: RealSense Node Is Up!
[xs_sdk-1] [ERROR] 	Can't find DYNAMIXEL ID:  3, Joint Name: 'elbow':
[xs_sdk-1] 		  '[TxRxResult] There is no status packet!'
[realsense2_camera_node-7] [WARN] [1703500416.228201040] [camera.camera]: 
[xs_sdk-1] [ERROR] 	Can't find DYNAMIXEL ID:  2, Joint Name: 'shoulder':
[xs_sdk-1] 		  '[TxRxResult] There is no status packet!'
[xs_sdk-1] [ERROR] 	Can't find DYNAMIXEL ID:  5, Joint Name: 'gripper':
[xs_sdk-1] 		  '[TxRxResult] There is no status packet!'
[xs_sdk-1] [ERROR] 	Can't find DYNAMIXEL ID:  1, Joint Name: 'waist':
[xs_sdk-1] 		  '[TxRxResult] There is no status packet!'
[xs_sdk-1] [FATAL] Failed to find all motors. Shutting down...
[xs_sdk-1] [FATAL] [1703500416.429787578] [interbotix_xs_sdk.xs_sdk]: InterbotixDriverXS initialization failed: 'Failed to find all motors.'.
[xs_sdk-1] [FATAL] [1703500416.429903801] [interbotix_xs_sdk.xs_sdk]: For troubleshooting, please see 'https://docs.trossenrobotics.com/interbotix_xsarms_docs/troubleshooting.html'.
[ERROR] [xs_sdk-1]: process has died [pid 24270, exit code 1, cmd '/home/tony/ros2_ws/install/interbotix_xs_sdk/lib/interbotix_xs_sdk/xs_sdk --ros-args -r __node:=xs_sdk -r __ns:=/px100 --params-file /tmp/launch_params_rk2ih0f_ -r /px100/joint_states:=/joint_states'].
[rplidar_node-5] [ERROR] [1703500419.285256226] [rplidar_node]: Error, operation time out. SL_RESULT_OPERATION_TIMEOUT! 
[ERROR] [rplidar_node-5]: process has died [pid 24278, exit code 255, cmd '/opt/ros/humble/lib/rplidar_ros/rplidar_node --ros-args -r __node:=rplidar_node --params-file /tmp/launch_params_s5opjuzn'].

Q % SAX6R0Z6@Q`(9YGI_S6
@HuaYuXiao HuaYuXiao added the bug Something isn't working label Dec 25, 2023
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