OP3-like project, using Pi4, OpenCR, rplidar, dynamixels. USB communication issues between Pi and OpenCR

Smitty · December 1, 2020, 7:59pm

Hi there,
I am in the middle of this biped project. I’m using a Pi4, OpenCR, dynamixels and rplidar.
I have Raspian on Pi4, and downloaded and catkin_make the OP3 code and rplidar code in my workspace. (ROS melodic)
I have compiled and uploaded the OP3 code to the OpenCR directly from my windows desktop.
I have successfully launched the rplidar, including SLAM on the Pi4 and it began building the map.
I have more work to do on that, but it works.
I have been able to SSH into the Pi4 from the desktop, and roslaunch the rplidar and rosrun rviz on the desktop and create the map that way as well.
My problems start when trying to roslaunch op3_bringup op3_bringup.launch as shown in the op3 tutorials.
I have updated a number of modules to fit my biped including those which mention device pertaining to opencr. /dev/ACM0 in my case.
Also, my first 20 dynamixels mimic OP3. But I do have 6 more and added those accordingly throughout the modules/files.
My error messages are just like this guy from 2+ years ago…but I guess he has a NUC.

github.com/ROBOTIS-GIT/ROBOTIS-OP3

error when try op3_manager with XM540-W270-R

opened 03:32PM - 20 Jul 18 UTC

closed 10:21PM - 09 Sep 18 UTC

msaufyrohmad

question

hi i try op3 manager with set of 15 xm540 servos. i already change the .ro…bot file and add XM-540.device file. but when i try to run the op3manager with op3_manager.launch, this message appear. process[op3_localization-2]: started with pid [26270] [ERROR] [1532100652.615660890]: Torque on DXLs! [[RxPacketError] Unknown error code!] [ERROR] [1532100652.651648647]: Torque on DXLs! [[RxPacketError] Unknown error code!] [ERROR] [1532100652.687631622]: Torque on DXLs! [[RxPacketError] Unknown error code!] [ERROR] [1532100652.723618992]: Torque on DXLs! [[RxPacketError] Unknown error code!] [ERROR] [1532100652.759606870]: Torque on DXLs! [[RxPacketError] Unknown error code!] [ERROR] [1532100652.895751751]: Fail to control LED [[RxPacketError] Unknown error code!] /dev/ttyACM0 added. (baudrate: 57600) (/dev/ttyACM0) [ID: 1] XM-540 added. (/dev/ttyACM0) [ID: 2] XM-540 added. (/dev/ttyACM0) [ID: 3] XM-540 added. (/dev/ttyACM0) [ID: 4] XM-540 added. (/dev/ttyACM0) [ID: 5] XM-540 added. (/dev/ttyACM0) [ID: 6] XM-540 added. (/dev/ttyACM0) [ID: 7] XM-540 added. (/dev/ttyACM0) [ID: 8] XM-540 added. (/dev/ttyACM0) [ID: 9] XM-540 added. (/dev/ttyACM0) [ID: 10] XM-540 added. (/dev/ttyACM0) [ID: 11] XM-540 added. (/dev/ttyACM0) [ID: 12] XM-540 added. (/dev/ttyACM0) [ID: 13] XM-540 added. (/dev/ttyACM0) [ID: 14] XM-540 added. (/dev/ttyACM0) [ID: 15] XM-540 added. (/dev/ttyACM0) [ID:200] OPEN-CR added. [ INFO] [1532100654.028718785]: Load offsets... [ WARN] [1532100654.348599766]: Head control - angle unit : 30 [ERROR] [1532100655.314481806]: [RobotisController] first bulk read fail!! terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >' what(): boost: mutex lock failed in pthread_mutex_lock: Invalid arguu ment [adam_manager-1] process has died [pid 26241, exit code -6, cmd /home/husein/catkin_ws/devel/lib/adam_manager/adam_manager __name:=adam_manager __log:=/home/husein/.ros/log/7ff5bac6-8c2e-11e8-a852-240a64b1d379/adam_manager-1.log]. log file: /home/husein/.ros/log/7ff5bac6-8c2e-11e8-a852-240a64b1d379/adam_manager-1*.log I think i already change what suppose to change, but i study here. thanks You very much saufy

[ERROR] [1532100652.615660890]: Torque on DXLs! [[RxPacketError] Unknown error code!]
[ERROR] [1532100652.651648647]: Torque on DXLs! [[RxPacketError] Unknown error code!]
[ERROR] [1532100652.687631622]: Torque on DXLs! [[RxPacketError] Unknown error code!]
[ERROR] [1532100652.723618992]: Torque on DXLs! [[RxPacketError] Unknown error code!]
[ERROR] [1532100652.759606870]: Torque on DXLs! [[RxPacketError] Unknown error code!]
[ERROR] [1532100652.895751751]: Fail to control LED [[RxPacketError] Unknown error code!]

[ERROR] [1532100655.314481806]: [RobotisController] first bulk read fail!!
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injectorboost::lock_error >'

The problem is, I have a Pi4. How do I add the OP3 hidden network to a Pi4 from:

Thanks in advance for any ideas or help,
Jay

willson · December 3, 2020, 4:11am

Hi Jay,
This has been responded in the OP3 repository issue thread.
Please see below.

github.com/ROBOTIS-GIT/ROBOTIS-OP3

Not really an issue. Can I substitute a Pi4 for the NUC? If yes, what would that require?

opened 03:59PM - 02 Dec 20 UTC

Smitty-44

I am creating my own biped (26 DOF) which in many ways is similar to the OP3. … But, I have a Pi4 instead of a NUC. And I have a rplidar. The Pi4 has Raspian installed and ROS melodic. I have the Pi4 directly connected (usb) to a OpenCR. I downloaded the OP3 code to the Pi4 workspace, and catkin_make just fine. Using my windows desktop, I compiled, and successfully uploaded the OP3 code for the OpenCR. I changed a number of modules/files (op3_bringup.launch, op3_manager.launch, offset.yaml, OP3.robot, dxl_init_OP3.yaml, etc.). To simplify things, the first 20 motors of my biped match the location and name of the OP3 motors. In this way, I only needed to add the extra 6. I am using XM430-210-T(s) in the legs and torso, and XL430-250-T(s) for the arms). Baud rates set at 2M. I am using the 12V power supply and I know the dynamixels are getting power due to the leds flashing once. In a Pi terminal, I type in (fyi, I'm using ttyUSB0 for the rplidar which works fine): $ export OPENCR_MODEL=OP3 $ OPENCR_PORT=/dev/ttyACM0 $ sudo chmod 666 /dev/ttyACM0 During roslaunch op3_bringup, it is apparent the Pi4 and OpenCR are not communicating as planned. I'm getting the errors as described here: [https://github.com/ROBOTIS-GIT/ROBOTIS-OP3/issues/50](url) [ERROR] [1532100652.759606870]: Torque on DXLs! [[RxPacketError] Unknown error code!] [ERROR] [1532100652.895751751]: Fail to control LED [[RxPacketError] Unknown error code!] ...and... [ERROR] [1532100655.314481806]: [RobotisController] first bulk read fail!! terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injectorboost::lock_error >' How would I setup the WiFi Hotspot on a Pi4? [emanual.robotis.com/docs/en/platform/op3/recovery/#pc-setting](url) Would any of the setup procedures or software for turtlebot3 help in this matter? I didn't try any of that up to this moment due to mixing and matching those two software. I didn't want to create a much worse problem and maybe having to start over. As a sidenote, I am able to SSH into the Pi4 from my windows desktop so I can control from there and also use SLAM for the lidar. Any help or direction would be appreciated. Thank you very much in advance, Jay

Thanks!