안녕하세요, openmanipualtor-X 사용하려고 e-Manual를 따라 진행하던중
ros2 launch open_manipulator_x_bringup hardware.launch.py 해당코드를 실행했을 때 다음과 같은 결과가 발생했습니다.
mecha@mecha-950SBE-951SBE:~$ ros2 launch open_manipulator_x_bringup hardware.launch.py
[INFO] [launch]: All log files can be found below /home/mecha/.ros/log/2025-08-04-15-12-59-654860-mecha-950SBE-951SBE-71004
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [71007]
[INFO] [robot_state_publisher-2]: process started with pid [71009]
[INFO] [spawner-3]: process started with pid [71011]
[robot_state_publisher-2] [INFO] [1754287980.082096153] [robot_state_publisher]: got segment dummy_mimic_fix
[robot_state_publisher-2] [INFO] [1754287980.082317200] [robot_state_publisher]: got segment end_effector_link
[robot_state_publisher-2] [INFO] [1754287980.082343092] [robot_state_publisher]: got segment gripper_left_link
[robot_state_publisher-2] [INFO] [1754287980.082361575] [robot_state_publisher]: got segment gripper_right_link
[robot_state_publisher-2] [INFO] [1754287980.082378213] [robot_state_publisher]: got segment link1
[robot_state_publisher-2] [INFO] [1754287980.082394817] [robot_state_publisher]: got segment link2
[robot_state_publisher-2] [INFO] [1754287980.082410247] [robot_state_publisher]: got segment link3
[robot_state_publisher-2] [INFO] [1754287980.082426067] [robot_state_publisher]: got segment link4
[robot_state_publisher-2] [INFO] [1754287980.082441922] [robot_state_publisher]: got segment link5
[robot_state_publisher-2] [INFO] [1754287980.082458141] [robot_state_publisher]: got segment world
[ros2_control_node-1] [WARN] [1754287980.087930220] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ros2_control_node-1] [INFO] [1754287980.088346013] [resource_manager]: Loading hardware 'OpenManipulatorXSystem'
[ros2_control_node-1] [INFO] [1754287980.096078566] [resource_manager]: Initialize hardware 'OpenManipulatorXSystem'
[ros2_control_node-1] transmission_to_joint_matrix_
[ros2_control_node-1] [0][0] 1.000000, [0][1] 0.000000, [0][2] 0.000000, [0][3] 0.000000, [0][4] 0.000000,
[ros2_control_node-1] [1][0] 0.000000, [1][1] 1.000000, [1][2] 0.000000, [1][3] 0.000000, [1][4] 0.000000,
[ros2_control_node-1] [2][0] 0.000000, [2][1] 0.000000, [2][2] 1.000000, [2][3] 0.000000, [2][4] 0.000000,
[ros2_control_node-1] [3][0] 0.000000, [3][1] 0.000000, [3][2] 0.000000, [3][3] 1.000000, [3][4] 0.000000,
[ros2_control_node-1] [4][0] 0.000000, [4][1] 0.000000, [4][2] 0.000000, [4][3] 0.000000, [4][4] 1.000000,
[ros2_control_node-1] [5][0] 0.000000, [5][1] 0.000000, [5][2] 0.000000, [5][3] 0.000000, [5][4] 0.000000,
[ros2_control_node-1] joint_to_transmission_matrix_
[ros2_control_node-1] [0][0] 1.000000, [0][1] 0.000000, [0][2] 0.000000, [0][3] 0.000000, [0][4] 0.000000, [0][5] 0.000000,
[ros2_control_node-1] [1][0] 0.000000, [1][1] 1.000000, [1][2] 0.000000, [1][3] 0.000000, [1][4] 0.000000, [1][5] 0.000000,
[ros2_control_node-1] [2][0] 0.000000, [2][1] 0.000000, [2][2] 1.000000, [2][3] 0.000000, [2][4] 0.000000, [2][5] 0.000000,
[ros2_control_node-1] [3][0] 0.000000, [3][1] 0.000000, [3][2] 0.000000, [3][3] 1.000000, [3][4] 0.000000, [3][5] 0.000000,
[ros2_control_node-1] [4][0] 0.000000, [4][1] 0.000000, [4][2] 0.000000, [4][3] 0.000000, [4][4] 1.000000, [4][5] 0.000000,
[ros2_control_node-1] [INFO] [1754287980.096880647] [dynamixel_hardware_interface]: error_timeout_ms parameter not found, using default value of 500ms
[ros2_control_node-1] [INFO] [1754287980.096937786] [dynamixel_hardware_interface]: If there is a torque enabled Dynamixel, the program will be terminated. Set 'disable_torque_at_init' parameter to 'true' to disable torque at initialization.
[ros2_control_node-1] [INFO] [1754287980.096965674] [dynamixel_hardware_interface]: port_name /dev/ttyUSB0 / baudrate 1000000
[ros2_control_node-1] Dynamixel Information File List.
[ros2_control_node-1] num: 220, name: omy_hat.model
[ros2_control_node-1] num: 230, name: omy_end.model
[ros2_control_node-1] num: 231, name: omy_end_rh_p12_rn.model
[ros2_control_node-1] num: 350, name: xl320.model
[ros2_control_node-1] num: 536, name: sensorxel_joy.model
[ros2_control_node-1] num: 537, name: ffw_g40_imu.model
[ros2_control_node-1] num: 600, name: sensorxel_joy.model
[ros2_control_node-1] num: 601, name: ffw_g10_led.model
[ros2_control_node-1] num: 602, name: ffw_g10_rcu.model
[ros2_control_node-1] num: 620, name: ffw_sg2_steer_1.model
[ros2_control_node-1] num: 621, name: ffw_sg2_steer_2.model
[ros2_control_node-1] num: 622, name: ffw_sg2_steer_3.model
[ros2_control_node-1] num: 623, name: ffw_sg2_drive_1.model
[ros2_control_node-1] num: 624, name: ffw_sg2_drive_2.model
[ros2_control_node-1] num: 625, name: ffw_sg2_drive_3.model
[ros2_control_node-1] num: 1000, name: xh430_w350.model
[ros2_control_node-1] num: 1001, name: xd430_t350.model
[ros2_control_node-1] num: 1010, name: xh430_w210.model
[ros2_control_node-1] num: 1011, name: xd430_t210.model
[ros2_control_node-1] num: 1020, name: xm430_w350.model
[ros2_control_node-1] num: 1030, name: xm430_w210.model
[ros2_control_node-1] num: 1040, name: xh430_v350.model
[ros2_control_node-1] num: 1050, name: xh430_v210.model
[ros2_control_node-1] num: 1060, name: xl430_w250.model
[ros2_control_node-1] num: 1070, name: xc430_w150.model
[ros2_control_node-1] num: 1070, name: xc430_w150.model
[ros2_control_node-1] num: 1080, name: xc430_w240.model
[ros2_control_node-1] num: 1080, name: xc430_w240.model
[ros2_control_node-1] num: 1090, name: 2xl430_w250.model
[ros2_control_node-1] num: 1100, name: xh540_w270.model
[ros2_control_node-1] num: 1101, name: xd540_t270.model
[ros2_control_node-1] num: 1110, name: xh540_w150.model
[ros2_control_node-1] num: 1111, name: xd540_t150.model
[ros2_control_node-1] num: 1120, name: xm540_w270.model
[ros2_control_node-1] num: 1130, name: xm540_w150.model
[ros2_control_node-1] num: 1140, name: xh540_v270.model
[ros2_control_node-1] num: 1150, name: xh540_v150.model
[ros2_control_node-1] num: 1160, name: 2xc430_w250.model
[ros2_control_node-1] num: 1170, name: xw540_t260.model
[ros2_control_node-1] num: 1180, name: xw540_t140.model
[ros2_control_node-1] num: 1190, name: xl330_m077.model
[ros2_control_node-1] num: 1200, name: xl330_m288.model
[ros2_control_node-1] num: 1210, name: xc330_t181.model
[ros2_control_node-1] num: 1220, name: xc330_t288.model
[ros2_control_node-1] num: 1230, name: xc330_m181.model
[ros2_control_node-1] num: 1240, name: xc330_m288.model
[ros2_control_node-1] num: 1270, name: xw430_t333.model
[ros2_control_node-1] num: 1310, name: xw540_h260.model
[ros2_control_node-1] num: 2000, name: ph42_020_s300.model
[ros2_control_node-1] num: 4000, name: ym070_210_m001.model
[ros2_control_node-1] num: 4020, name: ym070_210_r051.model
[ros2_control_node-1] num: 4030, name: ym070_210_r099.model
[ros2_control_node-1] num: 4050, name: ym070_210_a099.model
[ros2_control_node-1] num: 4120, name: ym080_230_m001.model
[ros2_control_node-1] num: 4130, name: ym080_230_b001.model
[ros2_control_node-1] num: 4140, name: ym080_230_r051.model
[ros2_control_node-1] num: 4150, name: ym080_230_r099.model
[ros2_control_node-1] num: 4170, name: ym080_230_a099.model
[ros2_control_node-1] num: 35074, name: rh_p12_rn.model
[ros2_control_node-1] [INFO] [1754287980.097558805] [dynamixel_hardware_interface]: $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
[ros2_control_node-1] [INFO] [1754287980.097577355] [dynamixel_hardware_interface]: $$$$$ Init Dxl Comm Port
[ros2_control_node-1] [INFO] [1754287980.097593071] [dynamixel_hardware_interface]: Revolute to Prismatic gripper conversion enabled.
[ros2_control_node-1] [INFO] [1754287980.097781775] [dynamixel_hardware_interface]: $$$$$ Init Items for type: controller
[ros2_control_node-1] [INFO] [1754287980.097800319] [dynamixel_hardware_interface]: $$$$$ Init Items for type: virtual_dxl
[ros2_control_node-1] Succeeded to open the port!
[ros2_control_node-1] Succeeded to change the [1000000] baudrate!
[ros2_control_node-1] [ID:011] Request ping - Ping succeeded. Dynamixel model number : 1020 (xm430_w350.model)
[ros2_control_node-1] [ID:012] Request ping - Ping succeeded. Dynamixel model number : 1020 (xm430_w350.model)
[ros2_control_node-1] [ID:013] Request ping - Ping succeeded. Dynamixel model number : 1020 (xm430_w350.model)
[ros2_control_node-1] [ID:014] Request ping - Ping succeeded. Dynamixel model number : 1020 (xm430_w350.model)
[ros2_control_node-1] [ID:015] Request ping - Ping succeeded. Dynamixel model number : 1020 (xm430_w350.model)
[ros2_control_node-1] [INFO] [1754287980.115873536] [dynamixel_hardware_interface]: Trying to connect to the communication port...
[ros2_control_node-1] [InitTorqueStates][ID:011] Current torque state: OFF
[ros2_control_node-1] [InitTorqueStates][ID:012] Current torque state: OFF
[ros2_control_node-1] [InitTorqueStates][ID:013] Current torque state: OFF
[ros2_control_node-1] [InitTorqueStates][ID:014] Current torque state: OFF
[ros2_control_node-1] [InitTorqueStates][ID:015] Current torque state: OFF
[ros2_control_node-1] [INFO] [1754287980.121428363] [dynamixel_hardware_interface]: $$$$$ Init Items for type: dxl
[ros2_control_node-1] [INFO] [1754287980.121552720] [dynamixel_hardware_interface]: [ID:11] item_name:Return Delay Time data:0
[ros2_control_node-1] [INFO] [1754287980.122390480] [dynamixel_hardware_interface]: [ID:11] item_name:Drive Mode data:0
[ros2_control_node-1] [INFO] [1754287980.123392375] [dynamixel_hardware_interface]: [ID:11] item_name:Position D Gain data:100
[ros2_control_node-1] [INFO] [1754287980.124407816] [dynamixel_hardware_interface]: [ID:11] item_name:Position I Gain data:100
[ros2_control_node-1] [INFO] [1754287980.125427582] [dynamixel_hardware_interface]: [ID:11] item_name:Position P Gain data:800
[ros2_control_node-1] [INFO] [1754287980.126410029] [dynamixel_hardware_interface]: [ID:11] item_name:Profile Velocity data:200
[ros2_control_node-1] [INFO] [1754287980.127399591] [dynamixel_hardware_interface]: [ID:11] item_name:Profile Acceleration data:50
[ros2_control_node-1] [INFO] [1754287980.128398285] [dynamixel_hardware_interface]: [ID:12] item_name:Return Delay Time data:0
[ros2_control_node-1] [INFO] [1754287980.129383045] [dynamixel_hardware_interface]: [ID:12] item_name:Drive Mode data:0
[ros2_control_node-1] [INFO] [1754287980.130397394] [dynamixel_hardware_interface]: [ID:12] item_name:Position D Gain data:100
[ros2_control_node-1] [INFO] [1754287980.131414160] [dynamixel_hardware_interface]: [ID:12] item_name:Position I Gain data:100
[ros2_control_node-1] [INFO] [1754287980.132430264] [dynamixel_hardware_interface]: [ID:12] item_name:Position P Gain data:800
[ros2_control_node-1] [INFO] [1754287980.133411003] [dynamixel_hardware_interface]: [ID:12] item_name:Profile Velocity data:200
[ros2_control_node-1] [INFO] [1754287980.134389978] [dynamixel_hardware_interface]: [ID:12] item_name:Profile Acceleration data:50
[ros2_control_node-1] [INFO] [1754287980.135405896] [dynamixel_hardware_interface]: [ID:13] item_name:Return Delay Time data:0
[ros2_control_node-1] [INFO] [1754287980.136406110] [dynamixel_hardware_interface]: [ID:13] item_name:Drive Mode data:0
[ros2_control_node-1] [INFO] [1754287980.137377754] [dynamixel_hardware_interface]: [ID:13] item_name:Position D Gain data:100
[ros2_control_node-1] [INFO] [1754287980.138399280] [dynamixel_hardware_interface]: [ID:13] item_name:Position I Gain data:100
[ros2_control_node-1] [INFO] [1754287980.139400814] [dynamixel_hardware_interface]: [ID:13] item_name:Position P Gain data:800
[ros2_control_node-1] [INFO] [1754287980.140427502] [dynamixel_hardware_interface]: [ID:13] item_name:Profile Velocity data:200
[ros2_control_node-1] [INFO] [1754287980.141482264] [dynamixel_hardware_interface]: [ID:13] item_name:Profile Acceleration data:50
[ros2_control_node-1] [INFO] [1754287980.142420998] [dynamixel_hardware_interface]: [ID:14] item_name:Return Delay Time data:0
[ros2_control_node-1] [INFO] [1754287980.143452228] [dynamixel_hardware_interface]: [ID:14] item_name:Drive Mode data:0
[ros2_control_node-1] [INFO] [1754287980.144408517] [dynamixel_hardware_interface]: [ID:14] item_name:Position D Gain data:100
[ros2_control_node-1] [INFO] [1754287980.145402823] [dynamixel_hardware_interface]: [ID:14] item_name:Position I Gain data:100
[ros2_control_node-1] [INFO] [1754287980.146420934] [dynamixel_hardware_interface]: [ID:14] item_name:Position P Gain data:800
[ros2_control_node-1] [INFO] [1754287980.147420097] [dynamixel_hardware_interface]: [ID:14] item_name:Profile Velocity data:200
[ros2_control_node-1] [INFO] [1754287980.148415895] [dynamixel_hardware_interface]: [ID:14] item_name:Profile Acceleration data:50
[ros2_control_node-1] [INFO] [1754287980.149436772] [dynamixel_hardware_interface]: [ID:15] item_name:Return Delay Time data:0
[ros2_control_node-1] [INFO] [1754287980.150401739] [dynamixel_hardware_interface]: $$$$$ Init Items for type: sensor
[ros2_control_node-1] [INFO] [1754287980.150466652] [dynamixel_hardware_interface]: $$$$$ Init Dxl Read Items
[ros2_control_node-1] Dynamixel Read Type : sync read
[ros2_control_node-1] ID : 11, 12, 13, 14, 15,
[ros2_control_node-1] Read items : Present Position Present VelocityPresent Current Torque Enable Present Input Voltage
[ros2_control_node-1] set fast sync read (indirect addr) : addr 634, size 13
[ros2_control_node-1] FastSyncRead handler set up successfully.
[ros2_control_node-1] Success to set SyncRead handler using indirect address
[ros2_control_node-1] [INFO] [1754287980.217764584] [dynamixel_hardware_interface]: $$$$$ Init Dxl Write Items
[ros2_control_node-1] Dynamixel Write Type : sync write
[ros2_control_node-1] ID : 11, 12, 13, 14, 15,
[ros2_control_node-1] Write items : Goal Position
[ros2_control_node-1] set sync write (indirect addr) : addr 224, size 4
[ros2_control_node-1] Success to set SyncWrite handler using indirect address
[ros2_control_node-1] [INFO] [1754287980.246029938] [resource_manager]: Successful initialization of hardware 'OpenManipulatorXSystem'
[ros2_control_node-1] [INFO] [1754287980.246680609] [resource_manager]: 'configure' hardware 'OpenManipulatorXSystem'
[ros2_control_node-1] [INFO] [1754287980.246723832] [resource_manager]: Successful 'configure' of hardware 'OpenManipulatorXSystem'
[ros2_control_node-1] [INFO] [1754287980.246753543] [resource_manager]: 'activate' hardware 'OpenManipulatorXSystem'
[ros2_control_node-1] [INFO] [1754287980.248752306] [dynamixel_hardware_interface]: Sync joint state to command (joint: joint1, position, -1.56466 <- position, -1.56466
[ros2_control_node-1] [INFO] [1754287980.248822792] [dynamixel_hardware_interface]: Sync joint state to command (joint: joint2, position, -1.99571 <- position, -1.99571
[ros2_control_node-1] [INFO] [1754287980.248842710] [dynamixel_hardware_interface]: Sync joint state to command (joint: joint3, position, 2.48933 <- position, 2.48933
[ros2_control_node-1] [INFO] [1754287980.248859007] [dynamixel_hardware_interface]: Sync joint state to command (joint: joint4, position, -1.12594 <- position, -1.12594
[ros2_control_node-1] [INFO] [1754287980.248876390] [dynamixel_hardware_interface]: Sync joint state to command (joint: gripper_left_joint, position, 0.00170016 <- position, 0.00170016
[ros2_control_node-1] [INFO] [1754287980.248892748] [dynamixel_hardware_interface]: Sync joint state to command (joint: gripper_right_joint, position, 0 <- position, 0
[ros2_control_node-1] [INFO] [1754287980.249097761] [dynamixel_hardware_interface]: Enabling torque for Dynamixels
[ros2_control_node-1] [ID:011] Torque ON
[ros2_control_node-1] [ID:012] Torque ON
[ros2_control_node-1] [ID:013] Torque ON
[ros2_control_node-1] [ID:014] Torque ON
[ros2_control_node-1] [ID:015] Torque ON
[ros2_control_node-1] [INFO] [1754287980.254422580] [dynamixel_hardware_interface]: Dynamixel Hardware Start!
[ros2_control_node-1] [INFO] [1754287980.254488148] [resource_manager]: Successful 'activate' of hardware 'OpenManipulatorXSystem'
[ros2_control_node-1] [INFO] [1754287980.261205445] [controller_manager]: update rate is 100 Hz
[ros2_control_node-1] [INFO] [1754287980.261250406] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-1] [WARN] [1754287980.261458084] [controller_manager]: No real-time kernel detected on this system. See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
[ros2_control_node-1] FastSyncRead Rx Fail [Dxl Size : 5] [Error code : -3001]
[ros2_control_node-1] [ERROR] [1754287980.261596012] [dynamixel_hardware_interface]: Communication Fail --> SYNC_READ_FAIL
[ros2_control_node-1] [ERROR] [1754287980.261635683] [dynamixel_hardware_interface]: Dynamixel Read Fail (Duration: 0.001071ms/500ms)
[ros2_control_node-1] [ERROR] [1754287980.261666391] [dynamixel_hardware_interface]: Dynamixel Write Fail (Duration: 0.001071ms/500ms)
[ros2_control_node-1] [INFO] [1754287980.551348653] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-3] [INFO] [1754287980.585666640] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-1] [INFO] [1754287980.586938851] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1754287980.587099134] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-3] [INFO] [1754287980.615223519] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [spawner-3]: process has finished cleanly [pid 71011]
[INFO] [spawner-4]: process started with pid [71058]
[INFO] [spawner-5]: process started with pid [71060]
[ros2_control_node-1] [INFO] [1754287981.242961913] [controller_manager]: Loading controller 'arm_controller'
[ros2_control_node-1] [WARN] [1754287981.253370312] [arm_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[spawner-5] [INFO] [1754287981.278336812] [spawner_arm_controller]: Loaded arm_controller
[ros2_control_node-1] [INFO] [1754287981.279458117] [controller_manager]: Configuring controller 'arm_controller'
[ros2_control_node-1] [INFO] [1754287981.279702410] [arm_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ros2_control_node-1] [INFO] [1754287981.279749851] [arm_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-1] [INFO] [1754287981.279782216] [arm_controller]: Using 'splines' interpolation method.
[ros2_control_node-1] [INFO] [1754287981.280986670] [arm_controller]: Controller state will be published at 200.00 Hz.
[ros2_control_node-1] [INFO] [1754287981.283401078] [arm_controller]: Action status changes will be monitored at 20.00 Hz.
[ros2_control_node-1] [INFO] [1754287981.313898798] [controller_manager]: Loading controller 'gripper_controller'
[spawner-5] [INFO] [1754287981.314661376] [spawner_arm_controller]: Configured and activated arm_controller
[spawner-4] [INFO] [1754287981.350910224] [spawner_gripper_controller]: Loaded gripper_controller
[ros2_control_node-1] [INFO] [1754287981.352374028] [controller_manager]: Configuring controller 'gripper_controller'
[ros2_control_node-1] [INFO] [1754287981.352468385] [gripper_controller]: Action status changes will be monitored at 20.000000 Hz.
[spawner-4] [INFO] [1754287981.374872584] [spawner_gripper_controller]: Configured and activated gripper_controller
[INFO] [spawner-5]: process has finished cleanly [pid 71060]
[INFO] [spawner-4]: process has finished cleanly [pid 71058]
이렇게 SYNC_READ_FAIL가 나옴니다 그래서 위자드2.0에서 펌웨어 업그레이드를 하고 해보고, 펌웨어 복구로 펌웨어 버젼을 모드 45로 낮추고 통신속도와 모터 ID를 알맞게 설정후 진행하여 똑같은 결과가 발생합니다. 전원은 12V 5A 어뎁터로 연결중이고 제어기는 U2D2와 U2D2 Power Hub Board를 이용하고 있습니다 어떻게 해야할까요?