OpenmanipulatorX SYNC_READ_FAIL

samzo · August 11, 2025, 4:05pm

While following the e-Manual to use the OpenManipulator-X I tested this code [ros2 launch open_manipulator_x_bringup hardware.launch.py ]
and error occurred

[INFO] [launch]: All log files can be found below
/home/mecha4321/.ros/log/2025-07-30-16-47-42-727539-mecha4321-800G5H-800G5S-786
8
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [7872]
[INFO] [robot_state_publisher-2]: process started with pid [7874]
[INFO] [spawner-3]: process started with pid [7876]
[robot_state_publisher-2] [INFO] [1753861663.269605681] [robot_state_publisher]: got
segment dummy_mimic_fix
[robot_state_publisher-2] [INFO] [1753861663.269737377] [robot_state_publisher]: got
segment end_effector_link
[robot_state_publisher-2] [INFO] [1753861663.269758880] [robot_state_publisher]: got
segment gripper_left_link
[robot_state_publisher-2] [INFO] [1753861663.269773714] [robot_state_publisher]: got
segment gripper_right_link
[robot_state_publisher-2] [INFO] [1753861663.269787711] [robot_state_publisher]: got
segment link1
[robot_state_publisher-2] [INFO] [1753861663.269801358] [robot_state_publisher]: got
segment link2
[robot_state_publisher-2] [INFO] [1753861663.269814909] [robot_state_publisher]: got
segment link3
[robot_state_publisher-2] [INFO] [1753861663.269828783] [robot_state_publisher]: got
segment link4
[robot_state_publisher-2] [INFO] [1753861663.269842567] [robot_state_publisher]: got
segment link5
[robot_state_publisher-2] [INFO] [1753861663.269856125] [robot_state_publisher]: got
segment world
[ros2_control_node-1] [WARN] [1753861663.310835719] [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] [1753861663.311315952] [resource_manager]: Loading
hardware ‘OpenManipulatorXSystem’
[ros2_control_node-1] [INFO] [1753861663.318728466] [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] [1753861663.319420849] [dynamixel_hardware_interface]:
error_timeout_ms parameter not found, using default value of 500ms
[ros2_control_node-1] [INFO] [1753861663.319451407] [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] [1753861663.319472504] [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] [1753861663.320436214] [dynamixel_hardware_interface]:
$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
[ros2_control_node-1] [INFO] [1753861663.320465431] [dynamixel_hardware_interface]:
$$$$$ Init Dxl Comm Port
[ros2_control_node-1] [INFO] [1753861663.320491660] [dynamixel_hardware_interface]:
Revolute to Prismatic gripper conversion enabled.
[ros2_control_node-1] [INFO] [1753861663.320711646] [dynamixel_hardware_interface]:
$$$$$ Init Items for type: controller
[ros2_control_node-1] [INFO] [1753861663.320750910] [dynamixel_hardware_interface]:
$$$$$ 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] [1753861663.337006300] [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] [1753861663.342452447] [dynamixel_hardware_interface]:
$$$$$ Init Items for type: dxl
[ros2_control_node-1] [INFO] [1753861663.342516438] [dynamixel_hardware_interface]:
[ID:11] item_name:Return Delay Time data:0
[ros2_control_node-1] [INFO] [1753861663.343442696] [dynamixel_hardware_interface]:
[ID:11] item_name:Drive Mode data:0
[ros2_control_node-1] [INFO] [1753861663.344436920] [dynamixel_hardware_interface]:
[ID:11] item_name:Position D Gain data:100
[ros2_control_node-1] [INFO] [1753861663.345437608] [dynamixel_hardware_interface]:
[ID:11] item_name:Position I Gain data:100
[ros2_control_node-1] [INFO] [1753861663.346437524] [dynamixel_hardware_interface]:
[ID:11] item_name:Position P Gain data:800
[ros2_control_node-1] [INFO] [1753861663.347440852] [dynamixel_hardware_interface]:
[ID:11] item_name:Profile Velocity data:200
[ros2_control_node-1] [INFO] [1753861663.348447813] [dynamixel_hardware_interface]:
[ID:11] item_name:Profile Acceleration data:50
[ros2_control_node-1] [INFO] [1753861663.349454041] [dynamixel_hardware_interface]:
[ID:12] item_name:Return Delay Time data:0
[ros2_control_node-1] [INFO] [1753861663.350437272] [dynamixel_hardware_interface]:
[ID:12] item_name:Drive Mode data:0
[ros2_control_node-1] [INFO] [1753861663.351434679] [dynamixel_hardware_interface]:
[ID:12] item_name:Position D Gain data:100
[ros2_control_node-1] [INFO] [1753861663.352435761] [dynamixel_hardware_interface]:
[ID:12] item_name:Position I Gain data:100
[ros2_control_node-1] [INFO] [1753861663.353434500] [dynamixel_hardware_interface]:
[ID:12] item_name:Position P Gain data:800
[ros2_control_node-1] [INFO] [1753861663.354435842] [dynamixel_hardware_interface]:
[ID:12] item_name:Profile Velocity data:200
[ros2_control_node-1] [INFO] [1753861663.355431663] [dynamixel_hardware_interface]:
[ID:12] item_name:Profile Acceleration data:50
[ros2_control_node-1] [INFO] [1753861663.356454629] [dynamixel_hardware_interface]:
[ID:13] item_name:Return Delay Time data:0

[ros2_control_node-1] [INFO] [1753861663.357437813] [dynamixel_hardware_interface]:
[ID:13] item_name:Drive Mode data:0
[ros2_control_node-1] [INFO] [1753861663.358438820] [dynamixel_hardware_interface]:
[ID:13] item_name:Position D Gain data:100
[ros2_control_node-1] [INFO] [1753861663.359437408] [dynamixel_hardware_interface]:
[ID:13] item_name:Position I Gain data:100
[ros2_control_node-1] [INFO] [1753861663.360438275] [dynamixel_hardware_interface]:
[ID:13] item_name:Position P Gain data:800
[ros2_control_node-1] [INFO] [1753861663.361435937] [dynamixel_hardware_interface]:
[ID:13] item_name:Profile Velocity data:200
[ros2_control_node-1] [INFO] [1753861663.362409297] [dynamixel_hardware_interface]:
[ID:13] item_name:Profile Acceleration data:50
[ros2_control_node-1] [INFO] [1753861663.363450460] [dynamixel_hardware_interface]:
[ID:14] item_name:Return Delay Time data:0
[ros2_control_node-1] [INFO] [1753861663.364439191] [dynamixel_hardware_interface]:
[ID:14] item_name:Drive Mode data:0
[ros2_control_node-1] [INFO] [1753861663.365439106] [dynamixel_hardware_interface]:
[ID:14] item_name:Position D Gain data:100
[ros2_control_node-1] [INFO] [1753861663.366455604] [dynamixel_hardware_interface]:
[ID:14] item_name:Position I Gain data:100
[ros2_control_node-1] [INFO] [1753861663.367440059] [dynamixel_hardware_interface]:
[ID:14] item_name:Position P Gain data:800
[ros2_control_node-1] [INFO] [1753861663.368441083] [dynamixel_hardware_interface]:
[ID:14] item_name:Profile Velocity data:200
[ros2_control_node-1] [INFO] [1753861663.369447764] [dynamixel_hardware_interface]:
[ID:14] item_name:Profile Acceleration data:50
[ros2_control_node-1] [INFO] [1753861663.370456345] [dynamixel_hardware_interface]:
[ID:15] item_name:Return Delay Time data:0
[ros2_control_node-1] [INFO] [1753861663.371439001] [dynamixel_hardware_interface]:
$$$$$ Init Items for type: sensor
[ros2_control_node-1] [INFO] [1753861663.371467924] [dynamixel_hardware_interface]:
$$$$$ Init Dxl Read Items
[ros2_control_node-1] Dynamixel Read Type : sync read
[ros2_control_node-1] ID : 11, 12, 13, 14, 15,
[ros2_control_node-1] Read items : Present Position Present VelocityPresent Current
Torque Enable Present Input Voltage
[ros2_control_node-1] set fast sync read (indirect addr) : addr 634, size 13
[ros2_control_node-1] FastSyncRead handler set up successfully.
[ros2_control_node-1] Success to set SyncRead handler using indirect address
[ros2_control_node-1] [INFO] [1753861663.437693947] [dynamixel_hardware_interface]:
$$$$$ 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] [1753861663.465042762] [resource_manager]: Successful
initialization of hardware ‘OpenManipulatorXSystem’

[ros2_control_node-1] [INFO] [1753861663.465510957] [resource_manager]: ‘configure’
hardware ‘OpenManipulatorXSystem’
[ros2_control_node-1] [INFO] [1753861663.465533795] [resource_manager]: Successful
‘configure’ of hardware ‘OpenManipulatorXSystem’
[ros2_control_node-1] [INFO] [1753861663.465559916] [resource_manager]: ‘activate’
hardware ‘OpenManipulatorXSystem’
[ros2_control_node-1] [INFO] [1753861663.467964818] [dynamixel_hardware_interface]:
Sync joint state to command (joint: joint1, position, 2.41567 ← position, 2.41567
[ros2_control_node-1] [INFO] [1753861663.468015792] [dynamixel_hardware_interface]:
Sync joint state to command (joint: joint2, position, 1.08352 ← position, 1.08352
[ros2_control_node-1] [INFO] [1753861663.468029804] [dynamixel_hardware_interface]:
Sync joint state to command (joint: joint3, position, -1.17043 ← position, -1.17043
[ros2_control_node-1] [INFO] [1753861663.468041611] [dynamixel_hardware_interface]:
Sync joint state to command (joint: joint4, position, 0.607753 ← position, 0.607753
[ros2_control_node-1] [INFO] [1753861663.468052981] [dynamixel_hardware_interface]:
Sync joint state to command (joint: gripper_left_joint, position, 0.0276622 ← position,
0.0276622
[ros2_control_node-1] [INFO] [1753861663.468064490] [dynamixel_hardware_interface]:
Sync joint state to command (joint: gripper_right_joint, position, 0 ← position, 0
[ros2_control_node-1] [INFO] [1753861663.468205433] [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] [1753861663.473448241] [dynamixel_hardware_interface]:
Dynamixel Hardware Start!
[ros2_control_node-1] [INFO] [1753861663.473487337] [resource_manager]: Successful
‘activate’ of hardware ‘OpenManipulatorXSystem’
[ros2_control_node-1] [INFO] [1753861663.477923468] [controller_manager]: update rate is
100 Hz
[ros2_control_node-1] [INFO] [1753861663.477954408] [controller_manager]: Spawning
controller_manager RT thread with scheduler priority: 50
[ros2_control_node-1] [WARN] [1753861663.478079109] [controller_manager]: No real-time
kernel detected on this system. See
[Controller Manager — ROS2_Control: Rolling Aug 2025 documentation] 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] [1753861663.478181481] [dynamixel_hardware_interface]:
Communication Fail → SYNC_READ_FAIL
[ros2_control_node-1] [ERROR] [1753861663.478216185] [dynamixel_hardware_interface]:
Dynamixel Read Fail (Duration: 0.000639ms/500ms)
[ros2_control_node-1] [ERROR] [1753861663.478240910] [dynamixel_hardware_interface]:
Dynamixel Write Fail (Duration: 0.000639ms/500ms)
[ros2_control_node-1] [INFO] [1753861663.697567487] [controller_manager]: Loading
controller ‘joint_state_broadcaster’

[spawner-3] [INFO] [1753861663.735195888] [spawner_joint_state_broadcaster]: Loaded
joint_state_broadcaster
[ros2_control_node-1] [INFO] [1753861663.736152783] [controller_manager]: Configuring
controller ‘joint_state_broadcaster’
[ros2_control_node-1] [INFO] [1753861663.736267849] [joint_state_broadcaster]: ‘joints’ or
‘interfaces’ parameter is empty. All available state interfaces will be published
[spawner-3] [INFO] [1753861663.771934381] [spawner_joint_state_broadcaster]:
Configured and activated joint_state_broadcaster
[INFO] [spawner-3]: process has finished cleanly [pid 7876]
[INFO] [spawner-4]: process started with pid [7923]
[INFO] [spawner-5]: process started with pid [7925]
[ros2_control_node-1] [INFO] [1753861664.469851762] [controller_manager]: Loading
controller ‘arm_controller’
[ros2_control_node-1] [WARN] [1753861664.481245886] [arm_controller]: [Deprecated]:
“allow_nonzero_velocity_at_trajectory_end” is set to true. The default behavior will change
to false.
[ros2_control_node-1] [INFO] [1753861664.506200219] [controller_manager]: Loading
controller ‘gripper_controller’
[spawner-5] [INFO] [1753861664.521041178] [spawner_arm_controller]: Loaded
arm_controller
[ros2_control_node-1] [INFO] [1753861664.522138360] [controller_manager]: Configuring
controller ‘arm_controller’
[ros2_control_node-1] [INFO] [1753861664.522396374] [arm_controller]: No specific joint
names are used for command interfaces. Using ‘joints’ parameter.
[ros2_control_node-1] [INFO] [1753861664.522436587] [arm_controller]: Command
interfaces are [position] and state interfaces are [position velocity].
[ros2_control_node-1] [INFO] [1753861664.522490336] [arm_controller]: Using ‘splines’
interpolation method.
[ros2_control_node-1] [INFO] [1753861664.523480068] [arm_controller]: Controller state will
be published at 200.00 Hz.
[ros2_control_node-1] [INFO] [1753861664.525466136] [arm_controller]: Action status
changes will be monitored at 20.00 Hz.
[spawner-4] [INFO] [1753861664.549949929] [spawner_gripper_controller]: Loaded
gripper_controller
[ros2_control_node-1] [INFO] [1753861664.551146412] [controller_manager]: Configuring
controller ‘gripper_controller’
[ros2_control_node-1] [INFO] [1753861664.551215028] [gripper_controller]: Action status
changes will be monitored at 20.000000 Hz.
[spawner-5] [INFO] [1753861664.552114591] [spawner_arm_controller]: Configured and
activated arm_controller
[spawner-4] [INFO] [1753861664.582107339] [spawner_gripper_controller]: Configured and
activated gripper_controller
[INFO] [spawner-5]: process has finished cleanly [pid 7925]
[INFO] [spawner-4]: process has finished cleanly [pid 7923]

The same error [SYNC_READ_FAIL] keeps occurring. It is not an intermittent error, and the system is also not operating normally.

YunWonho · August 12, 2025, 12:15am

Hello,

After running bringup, intermittent communication errors can occur due to noise. However, if the communication errors are persistent or if operations like teleoperation or MoveIt fail, there is a high probability of a hardware issue.

Please check the following:

Use Dynamixel Wizard to confirm that all Dynamixels are properly detected.
Verify that the IDs are set to 11-15.
Ensure that the baud rate is set to 1,000,000 for all Dynamixels.
If a firmware update is available, please proceed with the update.

If the problem continues after completing these steps, please copy the entire error message or provide a screenshot.

samzo · August 13, 2025, 4:53am

Hi YunWonho, thank you for your reply. I hate to say this, but I’ve already tried all of those, and it still seems to give me the same error. Do you have any other options for me?

YunWonho · August 13, 2025, 5:51am

[SYNC_READ_FAIL] Please share the log where the error occurs. If you look at the log above, it seems to be working normally.