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error when try op3_manager with XM540-W270-R #50
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Hello.
Upper Error means that you don't use OPEN-CR whose ID for communication is 200.
And second one has 2 solution.
|
do i need to used open-cr-op3 firmware or use dxl-to-usb is enough?
its 200 is default id for opencr?
saufy
…On Mon, Jul 23, 2018 at 7:08 AM, Kayman ***@***.***> wrote:
Hello.
[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!]
Upper Error means that you don't use OPEN-CR whose ID for communication is
200.
Please refer the link
<http://emanual.robotis.com/docs/en/parts/controller/opencr10/#op3>.
[ERROR] [1532100655.314481806]: [RobotisController] first bulk read fail!!
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injectorboost::lock_error >'
And second one has 2 solution.
1.
Get superuser privilege while maintaining the bash environment please.
$ sudo bash
2.
Follow the Other settings of the PC Setting
<http://emanual.robotis.com/docs/en/platform/op3/recovery/#pc-setting>
please.
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If you have an another plan for power control and sensor not using OpenCR, you don't have to use OpenCR. UsbToDxnamixel is enough. 200 is a default ID of OpenCR in the firmware for ROBOTIS-OP3. |
im using opencr with 15 xm540-w270-r that connected in series.
i used opencr_op3 firmware (so the ID of opencr is 200).
and i use OP3.robot and change accordingly based on my setup.
I use /dev/ttyACM0 to connect to openCR. why in op3.robot the motor
portname is /dev/ttyUSB0? do i need to change all the motor port to
/dev/ttyACM0?
i think i already follow every step, one by one. but i still stuck.
thank you very much robotis
saufy
…On Fri, Jul 27, 2018 at 9:13 AM, Kayman ***@***.***> wrote:
If you have an another plan for power control not using OpenCR, you don't
have to use OpenCR. UsbToDxnamixel is enough.
In the case of ROBOTIS-OP3, we used OpenCR in order to control the power
source.
It's a system block diagram
<http://emanual.robotis.com/docs/en/platform/op3/quick_start/#system-block-diagram>
of ROBOTIS-OP3.
200 is a default ID of OpenCR in the firmware for ROBOTIS-OP3.
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I see. I finally know what is different between you and I.
Maybe it will work if you change the robot file and a launch file. The developer of OpenCr is in vacation until next week.
When my colleague comes back next week, I'll ask him that whether it is possible to communicate with OpenCR and dynamixels using micro usb port of OpenCR under the firmware for ROBOTIS-OP3. |
oh. we are connecting direct from PC --> OpenCR --> XM540-W270
I already change the .robot file, offset.yaml and dxl_init file. I change
to /dev/ttyACM1 for all joint in .robot file. i also change in launch file
to /dev/ttyACM1. the devices file also i use XM540-W270. After i run
roslaunch this output appear. help me please. thank you very much.
process[op3_localization-2]: started with pid [28889]
[ INFO] [1533087892.716516643]: manager->init
[ERROR] [1533087892.774784135]: Torque on DXLs! [[RxPacketError] Unknown
error code!]
[ERROR] [1533087892.810790056]: Torque on DXLs! [[RxPacketError] Unknown
error code!]
[ERROR] [1533087892.846772185]: Torque on DXLs! [[RxPacketError] Unknown
error code!]
[ERROR] [1533087892.882775876]: Torque on DXLs! [[RxPacketError] Unknown
error code!]
[ERROR] [1533087892.918777710]: Torque on DXLs! [[RxPacketError] Unknown
error code!]
[ERROR] [1533087893.054881841]: Fail to control LED [[RxPacketError]
Unknown error code!]
/dev/ttyACM1 added. (baudrate: 57600)
(/dev/ttyACM1) [ID: 1] XM-540-W270 added.
(/dev/ttyACM1) [ID: 2] XM-540-W270 added.
(/dev/ttyACM1) [ID: 3] XM-540-W270 added.
(/dev/ttyACM1) [ID: 4] XM-540-W270 added.
(/dev/ttyACM1) [ID: 5] XM-540-W270 added.
(/dev/ttyACM1) [ID: 6] XM-540-W270 added.
(/dev/ttyACM1) [ID: 7] XM-540-W270 added.
(/dev/ttyACM1) [ID: 8] XM-540-W270 added.
(/dev/ttyACM1) [ID: 9] XM-540-W270 added.
(/dev/ttyACM1) [ID: 10] XM-540-W270 added.
(/dev/ttyACM1) [ID: 11] XM-540-W270 added.
(/dev/ttyACM1) [ID: 12] XM-540-W270 added.
(/dev/ttyACM1) [ID: 13] XM-540-W270 added.
(/dev/ttyACM1) [ID: 14] XM-540-W270 added.
(/dev/ttyACM1) [ID: 15] XM-540-W270 added.
(/dev/ttyACM1) [ID:200] OPEN-CR added.
[ERROR] [1533087893.244897528]: JOINT[head_yaw] does NOT respond!!
[ERROR] [1533087893.326990026]: JOINT[r_ank_pitch] does NOT respond!!
[ERROR] [1533087893.409011186]: JOINT[r_ank_pitchS] does NOT respond!!
[ERROR] [1533087893.491112007]: JOINT[r_ank_roll] does NOT respond!!
[ERROR] [1533087893.573152217]: JOINT[r_ank_rollS] does NOT respond!!
…-saufy
On Mon, Jul 30, 2018 at 10:31 AM, Kayman ***@***.***> wrote:
I see. I finally know what is different between you and I.
We used OpenCR like a dynamixel under the U2D2
<http://emanual.robotis.com/docs/en/parts/interface/u2d2/> in ROBOTIS-OP3.
/dev/ttyUSB0 is a portname of U2D2. This is an electronic structure of
ROBOTIS-OP3.
PC - U2D2 - OpenCR (200)
- Dynamixel (1)
- Dynamixel (2)
- ...
Maybe it will work if you change the robot file and a launch file. The
developer of OpenCr is in vacation until next week.
Could you test following method.
1. change a robot file
- open a OP3.robot file.
- replace /dev/ttyUSB0 to /dev/ttyACM0.
2. change a launch file
- open a op3_manager.launch file.
- replace /dev/ttyUSB0 to /dev/ttyACM0.
When my colleague is coming next week ,I'll ask him that whether it is
possible to communicate with OpenCR and dynamixels using micro usb port of
OpenCR under the firmware for ROBOTIS-OP3.
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i dont have U2D2 but i just try to use USB2Dynamixel and connect RS485 in
USB2Dynamixel to OpenCR.
i have 2 questions:
1. do i need to download opencr_op3 firmware into opencr before i connect
opencr to USB2Dynamixel?
2. do i need to download anything into USB2Dynamixel? or i need to download
any firmware first?
thank you very much
saufy
On Wed, Aug 1, 2018 at 9:52 AM, Muhammad Saufy Rohmad <msaufy@gmail.com>
wrote:
… oh. we are connecting direct from PC --> OpenCR --> XM540-W270
I already change the .robot file, offset.yaml and dxl_init file. I change
to /dev/ttyACM1 for all joint in .robot file. i also change in launch file
to /dev/ttyACM1. the devices file also i use XM540-W270. After i run
roslaunch this output appear. help me please. thank you very much.
process[op3_localization-2]: started with pid [28889]
[ INFO] [1533087892.716516643]: manager->init
[ERROR] [1533087892.774784135]: Torque on DXLs! [[RxPacketError] Unknown
error code!]
[ERROR] [1533087892.810790056]: Torque on DXLs! [[RxPacketError] Unknown
error code!]
[ERROR] [1533087892.846772185]: Torque on DXLs! [[RxPacketError] Unknown
error code!]
[ERROR] [1533087892.882775876]: Torque on DXLs! [[RxPacketError] Unknown
error code!]
[ERROR] [1533087892.918777710]: Torque on DXLs! [[RxPacketError] Unknown
error code!]
[ERROR] [1533087893.054881841]: Fail to control LED [[RxPacketError]
Unknown error code!]
/dev/ttyACM1 added. (baudrate: 57600)
(/dev/ttyACM1) [ID: 1] XM-540-W270 added.
(/dev/ttyACM1) [ID: 2] XM-540-W270 added.
(/dev/ttyACM1) [ID: 3] XM-540-W270 added.
(/dev/ttyACM1) [ID: 4] XM-540-W270 added.
(/dev/ttyACM1) [ID: 5] XM-540-W270 added.
(/dev/ttyACM1) [ID: 6] XM-540-W270 added.
(/dev/ttyACM1) [ID: 7] XM-540-W270 added.
(/dev/ttyACM1) [ID: 8] XM-540-W270 added.
(/dev/ttyACM1) [ID: 9] XM-540-W270 added.
(/dev/ttyACM1) [ID: 10] XM-540-W270 added.
(/dev/ttyACM1) [ID: 11] XM-540-W270 added.
(/dev/ttyACM1) [ID: 12] XM-540-W270 added.
(/dev/ttyACM1) [ID: 13] XM-540-W270 added.
(/dev/ttyACM1) [ID: 14] XM-540-W270 added.
(/dev/ttyACM1) [ID: 15] XM-540-W270 added.
(/dev/ttyACM1) [ID:200] OPEN-CR added.
[ERROR] [1533087893.244897528]: JOINT[head_yaw] does NOT respond!!
[ERROR] [1533087893.326990026]: JOINT[r_ank_pitch] does NOT respond!!
[ERROR] [1533087893.409011186]: JOINT[r_ank_pitchS] does NOT respond!!
[ERROR] [1533087893.491112007]: JOINT[r_ank_roll] does NOT respond!!
[ERROR] [1533087893.573152217]: JOINT[r_ank_rollS] does NOT respond!!
-saufy
On Mon, Jul 30, 2018 at 10:31 AM, Kayman ***@***.***> wrote:
> I see. I finally know what is different between you and I.
> We used OpenCR like a dynamixel under the U2D2
> <http://emanual.robotis.com/docs/en/parts/interface/u2d2/> in
> ROBOTIS-OP3.
> /dev/ttyUSB0 is a portname of U2D2. This is an electronic structure of
> ROBOTIS-OP3.
>
> PC - U2D2 - OpenCR (200)
> - Dynamixel (1)
> - Dynamixel (2)
> - ...
>
> Maybe it will work if you change the robot file and a launch file. The
> developer of OpenCr is in vacation until next week.
> Could you test following method.
>
> 1. change a robot file
> - open a OP3.robot file.
> - replace /dev/ttyUSB0 to /dev/ttyACM0.
> 2. change a launch file
> - open a op3_manager.launch file.
> - replace /dev/ttyUSB0 to /dev/ttyACM0.
>
> When my colleague is coming next week ,I'll ask him that whether it is
> possible to communicate with OpenCR and dynamixels using micro usb port of
> OpenCR under the firmware for ROBOTIS-OP3.
>
> —
> You are receiving this because you authored the thread.
> Reply to this email directly, view it on GitHub
> <#50 (comment)>,
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> .
>
|
Yes, you can use USB2Dynamixel instead of U2D2. Q1 : If you want to use function of power control or sensor(gyro, accelermeter), you have to download a firmware for ROBOTIS-OP3 into OpenCR. (emanual) Q2 : you don't have to do anything. Good luck. |
thank you, it progressing.
i already can set the torque. but the ping still not work
[ INFO] [1533097846.650661842]: Torque on DXLs!
/dev/ttyUSB0 added. (baudrate: 2000000)
(/dev/ttyUSB0) [ID: 1] XM-540-W270 added.
...
...
(/dev/ttyUSB0) [ID: 15] XM-540-W270 added.
(/dev/ttyUSB0) [ID:200] OPEN-CR added.
[ERROR] [1533097213.167007397]: ADAM JOINT[head_yaw] does NOT respond!!
[ERROR] [1533097213.245370361]: ADAM JOINT[r_ank_pitch] does NOT respond!!
[ERROR] [1533097213.323732783]: ADAM JOINT[r_ank_pitchS] does NOT respond!!
this is my connection
PC USB Port ---> USB2Dynamixel (/dev/ttyUSB0) ---> OpenCR (load with
opencr_op3 firmware) --> XM540-W270 (15 units in series).
can u help me?
saufy
…On Wed, Aug 1, 2018 at 12:21 PM, Kayman ***@***.***> wrote:
Yes, you can use USB2Dynamixel instead of U2D2.
Q1 : If you want to use function of power control or sensor(gyro,
accelermeter), you have to download a firmware for ROBOTIS-OP3 into OpenCR.
(emanual
<http://emanual.robotis.com/docs/en/parts/controller/opencr10/#op3>)
Q2 : you don't have to do anything.
Good luck.
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I don't know what is problem. Could you give me a photo of your hardware configuration? I want to see it. |
ok this is my adam.robot file. below is image,
[ control info ]
control_cycle = 8 # milliseconds
[ port info ]
# PORT NAME | BAUDRATE | DEFAULT JOINT
/dev/ttyUSB0 | 2000000 | r_ank_pitch
[ device info ]
# TYPE | PORT NAME | ID | MODEL | PROTOCOL | DEV NAME
| BULK READ ITEMS
dynamixel | /dev/ttyUSB0 | 1 | XM540-W270 | 2.0 | r_ank_pitch
| present_position
dynamixel | /dev/ttyUSB0 | 2 | XM540-W270 | 2.0 | r_ank_pitchS
| present_position
dynamixel | /dev/ttyUSB0 | 3 | XM540-W270 | 2.0 | r_ank_roll
| present_position
dynamixel | /dev/ttyUSB0 | 4 | XM540-W270 | 2.0 | r_ank_rollS
| present_position
dynamixel | /dev/ttyUSB0 | 5 | XM540-W270 | 2.0 | r_knee_roll
| present_position
dynamixel | /dev/ttyUSB0 | 6 | XM540-W270 | 2.0 | r_knee_rollS
| present_position
dynamixel | /dev/ttyUSB0 | 7 | XM540-W270 | 2.0 | r_knee_rollS2
| present_position
dynamixel | /dev/ttyUSB0 | 8 | XM540-W270 | 2.0 | r_knee_rollS3
| present_position
dynamixel | /dev/ttyUSB0 | 9 | XM540-W270 | 2.0 | r_hip_roll
| present_position
dynamixel | /dev/ttyUSB0 | 10 | XM540-W270 | 2.0 | r_hip_rollS
| present_position
dynamixel | /dev/ttyUSB0 | 11 | XM540-W270 | 2.0 | r_hip_pitch
| present_position
dynamixel | /dev/ttyUSB0 | 12 | XM540-W270 | 2.0 | r_hip_pitchS
| present_position
dynamixel | /dev/ttyUSB0 | 13 | XM540-W270 | 2.0 | r_hip_yaw
| present_position
dynamixel | /dev/ttyUSB0 | 14 | XM540-W270 | 2.0 | r_hip_yawS
| present_position
dynamixel | /dev/ttyUSB0 | 15 | XM540-W270 | 2.0 | head_yaw |
present_position
sensor | /dev/ttyUSB0 | 200 | OPEN-CR | 2.0 | open-cr
| button, present_voltage, gyro_x, gyro_y, gyro_z, acc_x, acc_y, acc_z,
roll, pitch, yaw
~
The image: USB2Dynamixel connected to laptop USB /dev/ttyUSB0 and RS485 to
OpenCR. OpenCR connect to XM540-W270 in series.
thnks,
saufy
…On Wed, Aug 1, 2018 at 1:27 PM, Kayman ***@***.***> wrote:
I don't know what is problem.
Could you give me a photo of your hardware configuration? I want to see it.
And please give me your robot file too.
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I think there is no problem in the robot file. How about checking ID, baud rate, protocol version of dynamixels? I'll test it in the similar condition and let you know the result. |
It works for me.
|
i still cant. ok i tell u my configuration
Hardware Config (image attached)
PC USB ----rs485----> Dynamixel --> .... Dynamixel ---,........(15 units)
-----rs485---> OpenCR --- power cable ---> plug
Software Config
baudrate 2000000
port /dev/ttyUSB0
adam.robot configured like urs
but, i have 7 master and 8 slaves servos. thus this that cause the problem?
do i need to put all servos (including the slaves) in the .robot file or
just put the master? for now i put all master and slaves in .robot file
thank you for your patient helping me out
saufy
…On Wed, Aug 1, 2018 at 3:21 PM, Kayman ***@***.***> wrote:
It works for me.
This is my test condition.
- dynamixels
- XM540-W150
- ID : 1
- baudrate : 2000000
- XM540-W270
- ID : 2
- baudrate : 2000000
- robot file
[ control info ]
control_cycle = 8 # milliseconds
[ port info ]
# PORT NAME | BAUDRATE | DEFAULT JOINT
/dev/ttyUSB0 | 2000000 | r_sho_pitch
[ device info ]
# TYPE | PORT NAME | ID | MODEL | PROTOCOL | DEV NAME | BULK READ ITEMS
dynamixel | /dev/ttyUSB0 | 1 | XM540-W150 | 2.0 | r_sho_pitch | present_position, position_p_gain, position_d_gain, position_i_gain
dynamixel | /dev/ttyUSB0 | 2 | XM540-W270 | 2.0 | l_sho_pitch | present_position, position_p_gain, position_d_gain, position_i_gain
sensor | /dev/ttyUSB0 | 200 | OPEN-CR | 2.0 | open-cr | button, present_voltage, gyro_x, gyro_y, gyro_z, acc_x, acc_y, acc_z, roll, pitch, yaw
- execution screen
[image: image]
<https://user-images.githubusercontent.com/16040148/43506903-947f8f18-95a6-11e8-9314-eeee60205da6.png>
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What kind of method did you use for master and slave? |
direct cable. some is cross and some is straight. depend on the design (for
cw or ccw slaves). already tested and works fine
saufy
…On Thu, Aug 2, 2018 at 9:11 AM, Kayman ***@***.***> wrote:
What kind of method did you use for master and slave?
Is it using direct cable
<http://emanual.robotis.com/docs/en/dxl/x/xm540-w270/#drive-mode10> or secondary
id
<http://emanual.robotis.com/docs/en/dxl/x/xm540-w270/#secondaryshadow-id12>
?
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In my case, both of putting all servos to robot file and putting only masters are working. I am wondering why number of slave is bigger than number of master. For now, I suspect that the firmware of OpenCR has been downloaded well.
|
i think i have some package that not installed properly. because i keep
getting the same error message. i am using ubuntu 16.04, not linux mint,
its have some problem here?
(/dev/ttyUSB0) [ID: 15] XM-540-W270 added.
(/dev/ttyUSB0) [ID:200] OPEN-CR added.
[ERROR] [1533261427.075738545]: ADAM JOINT[head_yaw] does NOT respond!!
[ERROR] [1533261427.154023274]: ADAM JOINT[r_ank_pitch] does NOT respond!!
[ERROR] [1533261427.232379208]: ADAM JOINT[r_ank_pitchS] does NOT respond!!
more than one slave is needed for our knee. one as master, one clock wise
slave and 2 counter clock wise slave. but i think this is not the problem
here.
thank you very much for following my problem one by one
saufy
…On Thu, Aug 2, 2018 at 12:33 PM, Kayman ***@***.***> wrote:
In my case, both of putting all servos to robot file and putting only
masters are working.
I am wondering why number of slave is bigger than number of master.
As I know, master and slave are connected one by one.
- robot file
[ control info ]
control_cycle = 8 # milliseconds
[ port info ]
# PORT NAME | BAUDRATE | DEFAULT JOINT
/dev/ttyUSB0 | 2000000 | r_sho_pitch
[ device info ]
# TYPE | PORT NAME | ID | MODEL | PROTOCOL | DEV NAME | BULK READ ITEMS
dynamixel | /dev/ttyUSB0 | 1 | XM540-W150 | 2.0 | r_sho_pitch | present_position, position_p_gain, position_d_gain, position_i_gain
dynamixel | /dev/ttyUSB0 | 2 | XM540-W270 | 2.0 | l_sho_pitch | present_position, position_p_gain, position_d_gain, position_i_gain
dynamixel | /dev/ttyUSB0 | 3 | XM540-W270 | 2.0 | l_sho_pitchS | present_position, position_p_gain, position_d_gain, position_i_gain
sensor | /dev/ttyUSB0 | 200 | OPEN-CR | 2.0 | open-cr | button, present_voltage, gyro_x, gyro_y, gyro_z, acc_x, acc_y, acc_z, roll, pitch, yaw
- HW configuration
[image: image]
<https://user-images.githubusercontent.com/16040148/43562581-5f422ab0-9658-11e8-94e6-63465229e3c7.png>
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Ubuntu 16.04 is fine as well. it also looks no problem there are one master and two slaves. |
where is the log file that i can see the error?
i want to see where is the missing link between ROS and dxl motor
thanks
saufy
…On Fri, Aug 3, 2018 at 2:58 PM, Kayman ***@***.***> wrote:
Ubuntu 16.04 is fine as well. it also looks no problem there are one
master and two slaves.
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There is no log file. |
ok thank u. ill try
saufy
…On Mon, Aug 6, 2018 at 1:05 PM, Kayman ***@***.***> wrote:
There is no log file.
But If you change the flag for debug mode in robotis_controller.cpp
<https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/blob/cd58b92487b701380ff606c6f430e891f1c12ad2/robotis_controller/src/robotis_controller/robotis_controller.cpp#L38>,
you can see the more log in the screen.
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I'm going to close this until you update the issue with more information. If you do so I'll reopen the issue. Thanks. |
Hi robotis, I am sorry i dont use github to post this issue. Because the thread already closed while i dont know what is the issue with my ROS configuration. I use op3_manager and change the .robot, .yaml and offset.yaml files to follow my configuration. Everything is the same with op3 manual and setup (except i use usb2dynamixel) instead of U2D2. i use 15 XM540-W270 servos in series. The motor is tested with normal C program and it works. When i run the op3_manager, the torque is enabled but the ping command failed. this is the output: [ INFO] [1534231410.306879754]: Torque on DXLs! /dev/ttyUSB0 added. (baudrate: 2000000) .. .. I really stuck and i dont know what is the real problem. I hope robotis can help me. We bought a lot of XM540-W270 from robotis and i hope robotis can give support and help on this. thank you very much, saufy |
Can I see the picture of your hardware? |
this is my hardware configuration
PC USB Port --> usb2dynamixel --> RS485 to OpenCR -> RS485 OpenCR -> 3
XM540-W270 in series
i used op3_manager package with below adam.robot file
[ control info ]
control_cycle = 8 # milliseconds
[ port info ]
# PORT NAME | BAUDRATE | DEFAULT JOINT
/dev/ttyUSB0 | 2000000 | head_yaw
[ device info ]
# TYPE | PORT NAME | ID | MODEL | PROTOCOL | DEV NAME
| BULK READ ITEMS
dynamixel | /dev/ttyUSB0 | 1 | XM-540-W270 | 2.0 | r_ank_pitch
| present_position
dynamixel | /dev/ttyUSB0 | 2 | XM-540-W270 | 2.0 | r_ank_pitchS
| present_position
dynamixel | /dev/ttyUSB0 | 3 | XM-540-W270 | 2.0 | r_ank_roll
| present_position
dynamixel | /dev/ttyUSB0 | 4 | XM-540-W270 | 2.0 | r_ank_rollS
| present_position
dynamixel | /dev/ttyUSB0 | 5 | XM-540-W270 | 2.0 | r_knee_roll
| present_position
dynamixel | /dev/ttyUSB0 | 6 | XM-540-W270 | 2.0 | r_knee_rollS
| present_position
dynamixel | /dev/ttyUSB0 | 7 | XM-540-W270 | 2.0 | r_knee_rollS2
| present_position
dynamixel | /dev/ttyUSB0 | 8 | XM-540-W270 | 2.0 | r_knee_rollS3
| present_position
dynamixel | /dev/ttyUSB0 | 9 | XM-540-W270 | 2.0 | r_hip_roll
| present_position
dynamixel | /dev/ttyUSB0 | 10 | XM-540-W270 | 2.0 | r_hip_rollS
| present_position
dynamixel | /dev/ttyUSB0 | 11 | XM-540-W270 | 2.0 | r_hip_pitch
| present_position
dynamixel | /dev/ttyUSB0 | 12 | XM-540-W270 | 2.0 | r_hip_pitchS
| present_position
dynamixel | /dev/ttyUSB0 | 13 | XM-540-W270 | 2.0 | r_hip_yaw
| present_position
dynamixel | /dev/ttyUSB0 | 14 | XM-540-W270 | 2.0 | r_hip_yawS
| present_position
dynamixel | /dev/ttyUSB0 | 15 | XM-540-W270 | 2.0 | head_yaw
| present_position
sensor | /dev/ttyUSB0 | 200 | OPEN-CR | 2.0 | open-cr
|
button,present_voltage,gyro_x,gyro_y,gyro_z,acc_x,acc_y,acc_z,roll,pitch,yaw
~
below .launch file
<param name="offset_file_path" value="$(find
adam_manager)/config/offset.yaml"/>
<param name="robot_file_path" value="$(find
adam_manager)/config/adam.robot"/>
<param name="init_file_path" value="$(find
adam_manager)/config/dxl_init_adam.yaml"/>
<param name="device_name" value="/dev/ttyUSB0"/>
<!-- OP3 Manager -->
<node pkg="adam_manager" type="adam_manager" name="adam_manager"
output="screen">
<param name="angle_unit" value="30" />
</node>
the baudrate is 2000000.
everything else is following op3_manager package. aid got below output.
[ INFO] [1534988445.602163817]: Torque on DXLs!
[ INFO] [1534988445.714108317]: LED OK
/dev/ttyUSB0 added. (baudrate: 2000000)
ADAM (/dev/ttyUSB0) [ID: 1] XM-540-W270 added.
ADAM (/dev/ttyUSB0) [ID: 2] XM-540-W270 added.
ADAM (/dev/ttyUSB0) [ID: 3] XM-540-W270 added.
ADAM (/dev/ttyUSB0) [ID: 4] XM-540-W270 added.
ADAM (/dev/ttyUSB0) [ID: 5] XM-540-W270 added.
ADAM (/dev/ttyUSB0) [ID: 6] XM-540-W270 added.
ADAM (/dev/ttyUSB0) [ID: 7] XM-540-W270 added.
ADAM (/dev/ttyUSB0) [ID: 8] XM-540-W270 added.
ADAM (/dev/ttyUSB0) [ID: 9] XM-540-W270 added.
ADAM (/dev/ttyUSB0) [ID: 10] XM-540-W270 added.
ADAM (/dev/ttyUSB0) [ID: 11] XM-540-W270 added.
ADAM (/dev/ttyUSB0) [ID: 12] XM-540-W270 added.
ADAM (/dev/ttyUSB0) [ID: 13] XM-540-W270 added.
ADAM (/dev/ttyUSB0) [ID: 14] XM-540-W270 added.
ADAM (/dev/ttyUSB0) [ID: 15] XM-540-W270 added.
(/dev/ttyUSB0) [ID:200] OPEN-CR added.
[ERROR] [1534988445.947550839]: ADAM JOINT[head_yaw] does NOT respond!!
[ERROR] [1534988446.025891266]: ADAM JOINT[r_ank_pitch] does NOT respond!!
[ERROR] [1534988446.104184619]: ADAM JOINT[r_ank_pitchS] does NOT respond!!
i dont know what is the error and i really hope get helps from robotis
engineers.
thank you very much
saufy rohmad
robopreneur sdn bhd
…On Mon, Aug 20, 2018 at 10:31 AM, Kayman ***@***.***> wrote:
Can I see the picture of your hardware?
I don't know what thr problem is for now.
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Did LED of Dynamixels blink when you run the manager.launch file? And I think your hardware configuration is fine. You have to debug using modifing the source code. (ex. robotis_controller) |
No LED blink in the servors.
but the torque enabling is worked fine.
[ INFO] [1535101606.623536048]: Torque on DXLs!
(/dev/ttyUSB0) [ID:200] OPEN-CR added.
PING Packet Handler id:15 result:-3001 // this is comment inside packet
handler.c in dynamixel sdk
PING Packet Handler id:15 result:-3001
[ERROR] [1535101606.844833668]: ADAM JOINT[head_yaw] does NOT respond!! //
this is commend inside robotis_controller that u mention above
PING Packet Handler id:1 result:-3001
since the torque enable is working, i think it is not about the power
problem. thank you. i really need help on this
saufy
…On Fri, Aug 24, 2018 at 12:26 PM Kayman ***@***.***> wrote:
Did LED of Dynamixels blink when you run the manager.launch file?
Otherwise, power was not supplied to the Dynamixel.
And I think your hardware configuration is fine. You have to debug using
modifing the source code. (ex. robotis_controller
<https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/blob/cd58b92487b701380ff606c6f430e891f1c12ad2/robotis_controller/src/robotis_controller/robotis_controller.cpp#L326>
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When the power is on, the servo LED blinks once. Will you check when it blinks? And I want to see the picture of your robot. |
When the power is on, the servo LED blinks once. Will you check when it
blinks?
> No, the servos not blink at all
In normal condition, LED blinks once when you run the manager.launch file.
> No all servos LED not blinking
At the beginning of the manager, we send a packet to OpenCR to turn on
dynamixel. Then the LED will blink. If it does not blink then OpenCR seems
to have a problem.
> not blink but openCR is working fine with other codes.
And I want to see the picture of your robot.
[image: op3_manager.jpeg]
the hardware configuration is following what op3 is doing. we dont have a
robot yet. just series of servos.
saufy, thank you very much
…On Tue, Aug 28, 2018 at 8:28 AM Kayman ***@***.***> wrote:
When the power is on, the servo LED blinks once. Will you check when it
blinks?
In normal condition, LED blinks once when you run the manager.launch file.
At the beginning of the manager, we send a packet to OpenCR to turn on
dynamixel. Then the LED will blink. If it does not blink then OpenCR seems
to have a problem.
And I want to see the picture of your robot.
Using text alone will not help you anymore.
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When the power is on, the servo LED blinks once. Will you check when it
The picture of series of servos is fine. Could you upload the image to this issue or send me via e-mail? |
This issue will be closed since there were no actions for a while. You can reopen this issue to show this issue to the users whenever. Thanks. |
Hello, regarding this statement, I want to clarify that I could totally not using an OpenCR to control a daisy-chained N number of dynamixel. Currently, this is my configuration Another issue that I want to ask when trying to using the op3_manager code example, I experienced this problem
and your solution was
I'm unable to find the communication id of U2D2 anywhere on this docs Thank you in advance |
hello @ROBOTIS-Kayman, currently I'm using this configuration PC --- OpenCR ---- MX-64 --- MX-64 --.... (24 * MX-64) and my problem still persists like my previous question, could you help me regarding my problem? I'm stuck for quite a while now. Thank you in advance |
Hi @luqmansen , In case of OP3, the controller reads the Present Position of 20 DYNAMIXEL with 8ms control frequency at 2Mbps so you should be fine with 24 DYNAMIXEL. (refer to : https://github.com/ROBOTIS-GIT/ROBOTIS-OP3/blob/master/op3_manager/config/OP3.robot) OP3 uses the OpenCR for IMU and power supply, therefore, using U2D2 instead of OpenCR won't need the power on sequence which causes the aforementioned error in your case. Thank you. |
hi
i try op3 manager with set of 15 xm540 servos.
i already change the .robot file and add XM-540.device file.
but when i try to run the op3manager with op3_manager.launch, this message appear.
process[op3_localization-2]: started with pid [26270]
[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!]
/dev/ttyACM0 added. (baudrate: 57600)
(/dev/ttyACM0) [ID: 1] XM-540 added.
(/dev/ttyACM0) [ID: 2] XM-540 added.
(/dev/ttyACM0) [ID: 3] XM-540 added.
(/dev/ttyACM0) [ID: 4] XM-540 added.
(/dev/ttyACM0) [ID: 5] XM-540 added.
(/dev/ttyACM0) [ID: 6] XM-540 added.
(/dev/ttyACM0) [ID: 7] XM-540 added.
(/dev/ttyACM0) [ID: 8] XM-540 added.
(/dev/ttyACM0) [ID: 9] XM-540 added.
(/dev/ttyACM0) [ID: 10] XM-540 added.
(/dev/ttyACM0) [ID: 11] XM-540 added.
(/dev/ttyACM0) [ID: 12] XM-540 added.
(/dev/ttyACM0) [ID: 13] XM-540 added.
(/dev/ttyACM0) [ID: 14] XM-540 added.
(/dev/ttyACM0) [ID: 15] XM-540 added.
(/dev/ttyACM0) [ID:200] OPEN-CR added.
[ INFO] [1532100654.028718785]: Load offsets...
[ WARN] [1532100654.348599766]: Head control - angle unit : 30
[ERROR] [1532100655.314481806]: [RobotisController] first bulk read fail!!
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injectorboost::lock_error >'
what(): boost: mutex lock failed in pthread_mutex_lock: Invalid arguu ment
[adam_manager-1] process has died [pid 26241, exit code -6, cmd /home/husein/catkin_ws/devel/lib/adam_manager/adam_manager __name:=adam_manager __log:=/home/husein/.ros/log/7ff5bac6-8c2e-11e8-a852-240a64b1d379/adam_manager-1.log].
log file: /home/husein/.ros/log/7ff5bac6-8c2e-11e8-a852-240a64b1d379/adam_manager-1*.log
I think i already change what suppose to change, but i study here.
thanks You very much
saufy
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