[문의]OpenManipulatorX bringup issues (ROS2 foxy)

jckim · November 12, 2024, 3:16am

1.System(hardware)
Turtlebot3 waffle_pi with OpenManipulatorX
( the date of purchase: 2024.11. )

2.Environment
Remote Pc: ubuntu 20.04(foxy)
turtlebot : custom image from TurtleBot3 (foxy)

3.Issue Description
OpenManipulatorX 연결 후 biringup에서 에러가 나고 있습니다.
어떻게 처리할 수 있는지 도움을 부탁드립니다.
emanual:

3.1 먼저, turtlebot3(waffle_pi)는 매뉴얼(3.Quick Start Guide)데로 biringup되고 Remote pc에서 keybord로 동작이 되었습니다.
3.2 매뉴얼의(7.Manipulation)의 7.2 software setup데로 Turtlebot3 SBC에 패키지를 설치 후 빌드진행
추가로 패키지를 설치하여 빌드는 완료되었습니다.
3.3 OpenManipulatorX 조립 연결 후 , 7.4 OpenCR steup(Turtlebot3 SBC)을 완료했습니다.
( 버전 및 jump_to_fw : 메시지 확인완료)
3.4 TurtleBot3 SBC에서 bringup을 진행하였으나, 아래와 같은 에러 메시지가 출력되었습니다.
*bringup 후 매니플레이터는 기본자세로 움직입니다.
- Open a terminal from the TurtleBot3 SBC.
- $ ros2 launch turtlebot3_manipulation_bringup
hardware.launch.py 실행
- ** error message

[ros2_control_node-2] [INFO] [1731373761.863243381] [turtlebot3_manipulation]: Ready for start
[ros2_control_node-2] [INFO] [1731373761.897400994] [turtlebot3_manipulation]: Wait for IMU re-calibration
[ros2_control_node-2] [ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!

ubuntu@ubuntu:~$ ros2 launch turtlebot3_manipulation_bringup hardware.launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2024-11-12-01-09-19-027937-ubuntu-1248
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [1252]
[INFO] [ros2_control_node-2]: process started with pid [1254]
[INFO] [spawner.py-3]: process started with pid [1256]
[INFO] [spawner.py-4]: process started with pid [1258]
[INFO] [spawner.py-5]: process started with pid [1260]
[INFO] [spawner.py-6]: process started with pid [1262]
[INFO] [spawner.py-7]: process started with pid [1264]
[INFO] [ld08_driver-8]: process started with pid [1266]
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link base_link had 8 children
[robot_state_publisher-1] Link link1 had 1 children
[robot_state_publisher-1] Link link2 had 1 children
[robot_state_publisher-1] Link link3 had 1 children
[robot_state_publisher-1] Link link4 had 1 children
[robot_state_publisher-1] Link link5 had 3 children
[robot_state_publisher-1] Link end_effector_link had 0 children
[robot_state_publisher-1] Link gripper_left_link had 0 children
[robot_state_publisher-1] Link gripper_right_link had 0 children
[robot_state_publisher-1] Link camera_link had 1 children
[robot_state_publisher-1] Link camera_rgb_frame had 1 children
[robot_state_publisher-1] Link camera_rgb_optical_frame had 0 children
[robot_state_publisher-1] Link caster_back_left_link had 0 children
[robot_state_publisher-1] Link caster_back_right_link had 0 children
[robot_state_publisher-1] Link imu_link had 0 children
[robot_state_publisher-1] Link base_scan had 0 children
[robot_state_publisher-1] Link wheel_left_link had 0 children
[robot_state_publisher-1] Link wheel_right_link had 0 children
[robot_state_publisher-1] [INFO] [1731373761.776940494] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1731373761.777344196] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1731373761.777420262] [robot_state_publisher]: got segment base_scan
[robot_state_publisher-1] [INFO] [1731373761.777456711] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1731373761.777487845] [robot_state_publisher]: got segment camera_rgb_frame
[robot_state_publisher-1] [INFO] [1731373761.777520090] [robot_state_publisher]: got segment camera_rgb_optical_frame
[robot_state_publisher-1] [INFO] [1731373761.777550520] [robot_state_publisher]: got segment caster_back_left_link
[robot_state_publisher-1] [INFO] [1731373761.777580636] [robot_state_publisher]: got segment caster_back_right_link
[robot_state_publisher-1] [INFO] [1731373761.777612325] [robot_state_publisher]: got segment end_effector_link
[robot_state_publisher-1] [INFO] [1731373761.777642144] [robot_state_publisher]: got segment gripper_left_link
[robot_state_publisher-1] [INFO] [1731373761.777671055] [robot_state_publisher]: got segment gripper_right_link
[robot_state_publisher-1] [INFO] [1731373761.777699892] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1731373761.777729748] [robot_state_publisher]: got segment link1
[robot_state_publisher-1] [INFO] [1731373761.777760641] [robot_state_publisher]: got segment link2
[robot_state_publisher-1] [INFO] [1731373761.777791849] [robot_state_publisher]: got segment link3
[robot_state_publisher-1] [INFO] [1731373761.777820557] [robot_state_publisher]: got segment link4
[robot_state_publisher-1] [INFO] [1731373761.777849542] [robot_state_publisher]: got segment link5
[robot_state_publisher-1] [INFO] [1731373761.777878120] [robot_state_publisher]: got segment wheel_left_link
[robot_state_publisher-1] [INFO] [1731373761.777907031] [robot_state_publisher]: got segment wheel_right_link
[ros2_control_node-2] [INFO] [1731373761.789718694] [turtlebot3_manipulation]: Succeeded to open port
[ros2_control_node-2] [INFO] [1731373761.795261217] [turtlebot3_manipulation]: Succeeded to set baudrate
[ros2_control_node-2] [INFO] [1731373761.826414649] [turtlebot3_manipulation]: OpenCR Model Number 20480
[ros2_control_node-2] [ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!
[ros2_control_node-2] [INFO] [1731373761.861036899] [turtlebot3_manipulation]: Connected manipulator
[ros2_control_node-2] [INFO] [1731373761.861393576] [turtlebot3_manipulation]: Connected wheels
[ros2_control_node-2] [INFO] [1731373761.863243381] [turtlebot3_manipulation]: Ready for start
[ros2_control_node-2] [INFO] [1731373761.897400994] [turtlebot3_manipulation]: Wait for IMU re-calibration
[ros2_control_node-2] [ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!
[ld08_driver-8] /dev/ttyACM0    OpenCR Virtual ComPort in FS Mode
[ld08_driver-8] /dev/ttyUSB0    CP2102 USB to UART Bridge Controller
[ld08_driver-8] FOUND LDS-02
[ld08_driver-8] LDS-02 started successfully
[ros2_control_node-2] [INFO] [1731373764.932112047] [turtlebot3_manipulation]: Joints and wheels torque ON
[ros2_control_node-2] [ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!
[ros2_control_node-2] [INFO] [1731373764.982236628] [turtlebot3_manipulation]: Set profile acceleration and velocity to joints
[ros2_control_node-2] [ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!
[ros2_control_node-2] [ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!
[ros2_control_node-2] [INFO] [1731373765.052213223] [turtlebot3_manipulation]: Set profile acceleration and velocity to gripper
[ros2_control_node-2] [ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!
[ros2_control_node-2] [ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!
[ros2_control_node-2] [INFO] [1731373765.123267688] [turtlebot3_manipulation]: Set goal current value to gripper
[ros2_control_node-2] [ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!
[ros2_control_node-2] [INFO] [1731373765.159267509] [turtlebot3_manipulation]: System starting
[ros2_control_node-2] [ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!
[ros2_control_node-2] [INFO] [1731373765.228683466] [controller_manager]: update rate is 100 Hz
[ros2_control_node-2] [INFO] [1731373765.239688846] [turtlebot3_manipulation]: Start to read wheels and manipulator states
[ros2_control_node-2] [INFO] [1731373765.266425401] [turtlebot3_manipulation]: Start to write wheels and manipulator commands
[ros2_control_node-2] [ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!
[ros2_control_node-2] [ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!
[ros2_control_node-2] [ERROR] [1731373765.338334994] [turtlebot3_manipulation]: Can't control joints
[ros2_control_node-2] [INFO] [1731373765.362430967] [controller_manager]: Loading controller 'arm_controller'
[ros2_control_node-2] [ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!
[ros2_control_node-2] [ERROR] [1731373765.374674970] [turtlebot3_manipulation]: Can't control gripper
[ros2_control_node-2] [ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!
[ros2_control_node-2] *** stack smashing detected ***: terminated
[ERROR] [ros2_control_node-2]: process has died [pid 1254, exit code -6, cmd '/opt/ros/foxy/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_611sv5vu --params-file /home/ubuntu/turtlebot3_ws/install/turtlebot3_manipulation_bringup/share/turtlebot3_manipulation_bringup/config/hardware_controller_manager.yaml -r ~/cmd_vel_unstamped:=cmd_vel'].

터틀봇 구매하고 ROS를 처음 설치해 보기 때문에,
위의 에러메시지에 대해 어떻게 진행해야 할지 잘 모르겠습니다.
도움을 부탁드립니다.

I followed the instructions in TurtleBot3 2 and chose the foxy option.
I added some packages while building the turtlebot3_manipulation package.

I then rebuilt colcon and it worked fine. However, when I try to use bring up, I get the above error.
ros2 launch turtlebot3_manipulation_bringup hardware.launch.py

I am unsure how to progress.
I would appreciate any help.

#.bashrc

alias nb='nano ~/.bashrc'
alias eb='nano ~/.bashrc'
alias sb='source ~/.bashrc'
alias gs='git status'
alias gp='git pull'
alias cw='cd ~/turtlebot3_ws'
alias cs='cd ~/turtlebot3_ws/src'
alias cb='cd ~/turtlebot3_ws && colcon build --symlink-install && source ~/.bashrc'
source /opt/ros/foxy/setup.bash
source ~/turtlebot3_ws/install/local_setup.bash

export ROS_DOMAIN_ID=30 # Default ROS2 Domain ID for TurtleBot3
source ~/turtlebot3_ws/install/setup.bash
export LDS_MODEL=LDS-02

사진추가

터틀봇_매니플레이터 전원ON상태

터틀봇_매니플레이터 - SBC에서 bring up

Bringup 후 에러 메시지

[SBC]ubuntu@ubuntu:~$ ros2 launch turtlebot3_manipulation_bringup hardware.launch.py

매니플레이터 조립

toukairinn · November 18, 2024, 5:54pm

As mentioned in the issue on the official ROBOTIS repository (link below), an error occurs when executing bringup when using the latest Dynamixel SDK.

This problem occurs with the latest version of Dynamixel, and can be solved by using the Dynamixel Wizard to change the return delay time of all motors from 250 ms to 0 ms.

github.com/ROBOTIS-GIT/turtlebot3_manipulation

FAIL to start "moveit_servo" (ROS2 Foxy)

opened 08:47AM - 29 Jan 24 UTC

closed 03:25AM - 16 Sep 24 UTC

eRobotclub

I am trying with ROS2 Foxy on TB3 with OpenManipulator-X, and followed the instr…uctions in emanual for all setup. However, when I try to teleoperate the arm, but error: FAIL to start FAIL to start "moveit_servo" T1: ros2 launch turtlebot3_manipulation_bringup hardware.launch.py ==> No error T2: ros2 launch turtlebot3_manipulation_moveit_config servo.launch.py ==> No error T3: ros2 run turtlebot3_manipulation_teleop turtlebot3_manipulation_teleop ==> ERROR!!! T3: ros2 service list ==> Can get /servo_server... ![Screenshot at 2024-01-29 16-38-53](https://github.com/ROBOTIS-GIT/turtlebot3_manipulation/assets/157785492/3e3c8571-1d50-4d45-bca6-9582a1f31fc3) Why this ERROR happen? Anything I missed out?