Use the following template to help create your post:
- What model(s) of servo are you using?
I have 4 XM430-W350-R motors setup on openmanipulator-x with no gripper. - Describe your control environment. Include the controller or interface, operating system (and version #) of your computer, and how you are powering your robot.
-OS UBUNTU 16.04 LTS
-ROS Kinetic
-OpenCR
-My robot is connected to OpenCR board
I have been following the instructions on the openmanipulator-x manual (OpenMANIPULATOR-X) webpage and i have done the instructions on step 4. As you can understand i am trying to control the robot via openCR and ROS. After the step 4 Option 2 : Use OpenCR as a communication interface instructions i proceed to 4.2.Basic Operation tab which is telling me to run this command ;
and when i run it i get the below result;
user@user:~/catkin_ws$ roslaunch open_manipulator_controller open_manipulator_controller.launch usb_port:=/dev/ttyACM0 baud_rate:=1000000
... logging to /home/user/.ros/log/83dd1302-132d-11ed-9d2c-507b9d65ae7d/roslaunch-user-8679.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://user:36199/
SUMMARY
========
PARAMETERS
* /open_manipulator/control_period: 0.01
* /open_manipulator/moveit_sample_duration: 0.05
* /open_manipulator/planning_group_name: arm
* /open_manipulator/using_moveit: False
* /open_manipulator/using_platform: True
* /rosdistro: kinetic
* /rosversion: 1.12.17
NODES
/
open_manipulator (open_manipulator_controller/open_manipulator_controller)
auto-starting new master
process[master]: started with pid [8689]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 83dd1302-132d-11ed-9d2c-507b9d65ae7d
process[rosout-1]: started with pid [8702]
started core service [/rosout]
process[open_manipulator-2]: started with pid [8705]
[PortHandlerLinux::SetupPort] Error opening serial port!
[ERROR] [DynamixelDriver] Failed to open the port!
[ERROR] [TxRxResult] Failed transmit instruction packet!
[ERROR] Please check your Dynamixel ID
[ERROR] [TxRxResult] Failed transmit instruction packet!
[ERROR] Please check your Dynamixel ID
[ERROR] [TxRxResult] Failed transmit instruction packet!
[ERROR] Please check your Dynamixel ID
[ERROR] [TxRxResult] Failed transmit instruction packet!
[ERROR] Please check your Dynamixel ID
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[PortHandlerLinux::SetupPort] Error opening serial port!
[ERROR] [DynamixelDriver] Failed to open the port!
[ERROR] [TxRxResult] Failed transmit instruction packet!
[ERROR] Please check your Dynamixel ID
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelDriver] Failed to get the Tool
[ERROR] [DynamixelWorkbench] Failed to change torque status!
[ERROR] [DynamixelWorkbench] Failed to change torque status!
[ERROR] [DynamixelWorkbench] Failed to change torque status!
[ERROR] [DynamixelWorkbench] Failed to change torque status!
[ERROR] [DynamixelWorkbench] Failed to change torque status!
[ERROR] [TxRxResult] Failed transmit instruction packet!
[ERROR] groupSyncRead getdata failed
[ERROR] groupSyncRead getdata failed
[ERROR] groupSyncRead getdata failed
[open_manipulator-2] process has died [pid 8705, exit code -11, cmd /home/user/catkin_ws/devel/lib/open_manipulator_controller/open_manipulator_controller /dev/ttyUSB0 1000000 __name:=open_manipulator __log:=/home/user/.ros/log/83dd1302-132d-11ed-9d2c-507b9d65ae7d/open_manipulator-2.log].
log file: /home/user/.ros/log/83dd1302-132d-11ed-9d2c-507b9d65ae7d/open_manipulator-2*.log
I have no problem controlling the motors via Dynamixel Wizard 2.
Arduino ide seems to be uploading the OpenCR tool to the board correctly as shown in the instructions. Motor ID’s are 11, 12, 13, 14.
Baud rates all set to 1000000.
And here is the port ;
user@user:~$ ls -la /dev/ttyACM0
crwxrwxrwx 1 root dialout 166, 0 Aug 3 16:34 /dev/ttyACM0