error when try op3_manager with standard op3

[GramJr]

hi
i try op3 manager with standard op3, but i've checked for updates (from R+Manager on Windows) all servos and updated all of it to version 42 (from 40).

And now op3 manager starts with this errors

process[op3_manager-1]: started with pid [3424]
process[op3_localization-2]: started with pid [3425]
[ INFO] [1553715380.459634064]: manager->init
[ERROR] [1553715380.568218833]: Torque on DXLs! [[RxPacketError] Unknown error code!]
[ERROR] [1553715380.602368186]: Torque on DXLs! [[RxPacketError] Unknown error code!]
[ERROR] [1553715380.636528690]: Torque on DXLs! [[RxPacketError] Unknown error code!]
[ERROR] [1553715380.670664274]: Torque on DXLs! [[RxPacketError] Unknown error code!]
[ERROR] [1553715380.704805024]: Torque on DXLs! [[RxPacketError] Unknown error code!]
[ERROR] [1553715380.839121352]: Fail to control LED [[RxPacketError] Unknown error code!]
/dev/ttyUSB0 added. (baudrate: 2000000)
(/dev/ttyUSB0) [ID: 1] XM-430 added.
(/dev/ttyUSB0) [ID: 2] XM-430 added.
(/dev/ttyUSB0) [ID: 3] XM-430 added.
(/dev/ttyUSB0) [ID: 4] XM-430 added.
(/dev/ttyUSB0) [ID: 5] XM-430 added.
(/dev/ttyUSB0) [ID: 6] XM-430 added.
(/dev/ttyUSB0) [ID: 7] XM-430 added.
(/dev/ttyUSB0) [ID: 8] XM-430 added.
(/dev/ttyUSB0) [ID: 9] XM-430 added.
(/dev/ttyUSB0) [ID: 10] XM-430 added.
(/dev/ttyUSB0) [ID: 11] XM-430 added.
(/dev/ttyUSB0) [ID: 12] XM-430 added.
(/dev/ttyUSB0) [ID: 13] XM-430 added.
(/dev/ttyUSB0) [ID: 14] XM-430 added.
(/dev/ttyUSB0) [ID: 15] XM-430 added.
(/dev/ttyUSB0) [ID: 16] XM-430 added.
(/dev/ttyUSB0) [ID: 17] XM-430 added.
(/dev/ttyUSB0) [ID: 18] XM-430 added.
(/dev/ttyUSB0) [ID: 19] XM-430 added.
(/dev/ttyUSB0) [ID: 20] XM-430 added.
(/dev/ttyUSB0) [ID:200] OPEN-CR added.
[ERROR] [1553715381.271926602]: Fail to load offset yaml.
[ WARN] [1553715381.580106068]: Head control - angle unit : 30
[ERROR] [1553715382.158283887]: [RobotisController] first bulk read fail!!
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info$ what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument
[op3_manager-1] process has died [pid 3424, exit code -6, cmd /home/robotis/catkin_ws/devel/lib/op3_manager/op3_manager$log file: /home/robotis/.ros/log/60334aba-50c7-11e9-9756-a0c5899b41a0/op3_manager-1*.log

I want to thank you for your assistance with these cases so far.

[GramJr]

Is it normal that model number was changed from 1000 to 1020 for all servos when i update firmware?

[kaym9n]

Hi,

I think the opencr firmware has failed in updating the dxl firmware. Could you refer to the e-manual to recover the opencr firmware?

The rest of the questions will be answered after confirmation.

Regards,
Kayman

[kaym9n]

Dynamixels of OP3 are XM430-W350.
Model number 1020 is the correct value.
The model number can not be changed through firmware update.
Only recovery is possible.

Thanks,
Kayman

[GramJr]

Hi,

I think the opencr firmware has failed in updating the dxl firmware. Could you refer to the e-manual to recover the opencr firmware?

The rest of the questions will be answered after confirmation.

Regards,
Kayman

I have already updated firmware on opencr more than 3 times, but from windows. I'll try to do this from linux (Done, nothing has changed). (already read this issue - #50). I've even rebuilt all op3, replaced opencr (to new one), restored nuc from image and then reinstalled and catkin_make all catkin_ws.

After linux is loaded, all servos are fixed in their current position (torque on). RGB near buttons and at front turned on with green light

[GramJr]

Debug information from opencr
0 Model_Number 29696 0x7400
2 Firmware_Version 2 0x2
3 ID 200 0xC8
4 Baud 4 0x4
5 Return_Delay_Time 0 0x0
16 Status_Return_Level 2 0x2
18 Roll_Offset 0 0x0
20 Pitch_Offset 0 0x0
22 Yaw_Offset 0 0x0
24 Dynamixel_Power 1 0x1
25 LED 0 0x0
26 LED_RGB 992 0x3E0
28 Buzzer 0 0x0
30 Button 0 0x0
31 Voltage 124 0x7C
32 Gyro_X 16 0x10
34 Gyro_Y 40 0x28
36 Gyro_Z 14 0xE
38 Acc_X 6625 0x19E1
40 Acc_Y 1542 0x606
42 Acc_Z 15318 0x3BD6
44 Roll 59 0x3B
46 Pitch -234 0xFFFFFF16
48 Yaw -286 0xFFFFFEE2
50 IMU_Control 0 0x0

[kaym9n]

Hi,

Did it work after rebuilt?
OPENCR looks good now.
Model number and firmware version, id, baud of OPENCR are fine.
If not, could you show me the log of op3_manager?

Regards,
Kayman

[GramJr]

Hi, here it is
master.log
roslaunch-robotis-op3-4169.log
rosout.log
rosout-1-stdout.log
No, unfortunately it still does not work.

[kaym9n]

Hi,

I looked at your log and it still seems that OPENCR is not responding.
Would you like to test it with dxl_monitor?
There is a program called dxl_monitor in the example of Dynamixel.
After connecting to OP3 with ssh, please follow the instructions below to see if OPENCR responds properly.

• Installation method

  • build library
    $ cd ~ / catkin_ws / DynamixelSDK / c ++ / build / linux64
    $ make
    $ sudo make install

  • build dxl_monitor and run
    $ cd ~ / catkin_ws / DynamixelSDK / c ++ / example / dxl_monitor / linux64
    $ make
    $ ./dxl_monitor

  • test

    • Change baud
      [CMD] baud 2000000
    • ping test
      [CMD] ping 200

[GramJr]

Done, ping to opencr (id 200) failed

[GramJr]

I have tested with dxl_monitor from opencr in arduino Serial Monitor dxl bus, and it works well! Opencr without nuc succeed to ping, to write and read to XM430.

[GramJr]

[GramJr]

1.4.X core for opencr was the reason of this issue. Now i use 1.3.2 core and all works fine.
If it possible, i want to know whats the problem with core 1.4.X :)

[OpusK]

Hi, @GramJr

I will check about this.
And if I know the exact cause, I'll let you know.

[OpusK]

@GramJr

I've found a problem related to UART DMA function.
It was added in 1.4.0, but I found that it was not applied to the OP3 example.

I will update this with other features and will release it within this week.
Sorry for the inconvenience. And thanks for giving me more debugging info :)

[GramJr]

@OpusK
Ok, thanks. Can I ask some questions about OP3 by mail, which is listed in the profile?

[OpusK]

@GramJr

If possible, it would be nice for us and other users to leave the issue on GitHub.
But, if your question is difficult to address here, please ask me about OpenCR's Firmware and ask @ROBOTIS-Kayman for OP3's software.

[GramJr]

@OpusK
Thank you!

[OpusK]

@GramJr

I just released version 1.4.6 of OpenCR!

[AlfretzNehemia]

hello guys, i have same problem here. i use u2d2->opencr -> dynamixel mx-64. when tried to ping opencr, it always fails. when i roslaunch op3_manager, always error. i have used op3 code in arduino ide. i hope you can response my problem. Thank you

[ROBOTIS-Will]

Hi @AlfretzNehemia
The OP3 is designed specifically for DYNAMIXEL X series and does not compatible with MX series.
Thank you.

[AlfretzNehemia]

thank you for answering my question. So, do you have any suggestion for me to run robot with dynamixel mx,ud2d, and subcontroller opencr? and i still have one question, why my opencr can't success ping when i test dxl_monitor? Pada tanggal Sen, 23 Agu 2021 pukul 09.08 Will Son ***@***.***> menulis:

…

Hi @AlfretzNehemia <https://github.com/AlfretzNehemia> The OP3 is designed specifically for DYNAMIXEL X series and does not compatible with MX series. Thank you. — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#65 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/APRRXKLRP3P2BWNRRGP5OJLT6GURFANCNFSM4HB2UQCQ> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&utm_campaign=notification-email> .

[ROBOTIS-Will]

@AlfretzNehemia
You may try upgrading to MX-64(2.0) firmware via DYNAMIXEL Wizard 2.0.
MX series with Protocol 2.0 firmware is very similar to X series.
Also you'll need to make some modifications in the source such as OP3.robot file where specific DYNAMIXEL is defined.

In regard with the ping issue, please try searching the opencr issue page, for example, ROBOTIS-GIT/OpenCR#147

Thanks!

[AlfretzNehemia]

Hi.. I have MX-64 (2.0) firmware and u2d2 and OpenCR. when i uploaded code op3 in my openCR, i just heard the buzzer rang and my dynamixel did not blink the LED. I think that make my robot can't run the op3_manager because i always got this warning [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!] Do you know what's wrong with my openCR or dynamixel? Thank you sir! Pada tanggal Sen, 30 Agu 2021 pukul 13.35 Will Son ***@***.***> menulis:

…

@AlfretzNehemia <https://github.com/AlfretzNehemia> You may try upgrading to MX-64(2.0) <https://emanual.robotis.com/docs/en/dxl/mx/mx-64-2/> firmware via DYNAMIXEL Wizard 2.0. MX series with Protocol 2.0 firmware is very similar to X series. Also you'll need to make some modifications in the source such as OP3.robot <https://github.com/ROBOTIS-GIT/ROBOTIS-OP3/blob/master/op3_manager/config/OP3.robot> file where specific DYNAMIXEL is defined. In regard with the ping issue, please try searching the opencr issue page, for example, ROBOTIS-GIT/OpenCR#147 <ROBOTIS-GIT/OpenCR#147> Thanks! — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#65 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/APRRXKIX7K4C7JYEOLXP5M3T7MRCLANCNFSM4HB2UQCQ> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub>.