Error on TB3 Waffle Pi + Openmanipulator-X with ROS 2 Humble

Robotclub · May 24, 2024, 6:29am

Issue: I want to use TB3 Waffle Pi + Openmanipulator+X with ROS 2 Humble, then I setup by following instructions in TurtleBot3

However, when I try to bring up with “ros2 launch turtlebot3_manipulation_bringup hardware.launch.py”, it shows error: “[ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!”

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I check Github there is a same issue in Open Manipulator Fails BringUP · Issue #63 · ROBOTIS-GIT/turtlebot3_manipulation · GitHub but no solution…

It might be issue in OpenCR firmware for TB3 + Openmanipulator…

Any update or any solution on this issue?

toukairinn · November 22, 2024, 9:31am

“There is no status packet!” is a message that is displayed when a timeout occurs when receiving with the Dynamixel SDK. It is possible that the reception from Dynamixel is timing out.

github.com

ROBOTIS-GIT/DynamixelSDK/blob/master/c++/src/dynamixel_sdk/protocol2_packet_handler.cpp#L92


      
            case COMM_RX_FAIL:
              return "[TxRxResult] Failed get status packet from device!";
          
            case COMM_TX_ERROR:
              return "[TxRxResult] Incorrect instruction packet!";
          
            case COMM_RX_WAITING:
              return "[TxRxResult] Now recieving status packet!";
          
            case COMM_RX_TIMEOUT:
              return "[TxRxResult] There is no status packet!";
          
            case COMM_RX_CORRUPT:
              return "[TxRxResult] Incorrect status packet!";
          
            case COMM_NOT_AVAILABLE:
              return "[TxRxResult] Protocol does not support This function!";
          
            default:
              return "";
          }

Please write usb_to_dxl .ino to OpenCR, and try again after setting the “Return Delay Time” of each XM430 to 0 on Dynamixel Wizard 2.0.

github.com

ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/OpenCR/examples/10. Etc/usb_to_dxl/usb_to_dxl.ino

#include <DynamixelSDK.h>
#include <stdarg.h>


#define DXL_USB_VER           20170915

#define CMD_PORT              Serial      // USB
#define DBG_PORT              Serial2     // UART1
#define DXL_PORT              Serial3
#define DXL_BAUD              1000000


#define DXL_LED_RX            BDPIN_LED_USER_1
#define DXL_LED_TX            BDPIN_LED_USER_2


#define DXL_POWER_DISABLE()   digitalWrite(BDPIN_DXL_PWR_EN, LOW);
#define DXL_POWER_ENABLE()    digitalWrite(BDPIN_DXL_PWR_EN, HIGH);

#define DXL_TX_BUFFER_LENGTH  1024

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