phidgets_high_speed_encoder: Failed to open device: Timed Out

[teknetik]

I am struggling to get the high-speed encoder node working. I have the spatial 3/3/3 and it works great. I have tried hardcoding the serial to 641610 in the src too with no luck.

Phidgets Device:

PhidgetEncoder HighSpeed 4-Input
ID: 1047_2B

usb-device:

T: Bus=01 Lev=02 Prnt=02 Port=03 Cnt=01 Dev#= 19 Spd=12 MxCh= 0 D: Ver= 2.10 Cls=00(>ifc ) Sub=00 Prot=00 MxPS=64 #Cfgs= 1 P: Vendor=06c2 ProdID=004f Rev=02.00 S: Manufacturer=Phidgets Inc. S: Product=PhidgetEncoder HighSpeed 4-Input S: SerialNumber=641610 C: #Ifs= 1 Cfg#= 1 Atr=80 MxPwr=96mA I: If#=0x0 Alt= 0 #EPs= 1 Cls=ff(vend.) Sub=00 Prot=00 Driver=(none)

Ubuntu 20.04
Ros2 Foxy

libusb:

libusb-1.0-0 is already the newest version (2:1.0.23-2build1). libusb-1.0-0-dev is already the newest version (2:1.0.23-2build1).

Launch command:

`ros2 launch phidgets_high_speed_encoder high_speed_encoder-launch.py

[INFO] [launch]: All log files can be found below /home/teknetik/.ros/log/2022-06-05-19-10-39-102421-alice-888830
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [888865]
[component_container-1] [INFO] [1654452655.686973543] [phidget_container]: Load Library: /home/teknetik/scootbot/install/phidgets_high_speed_encoder/lib/libphidgets_high_speed_encoder.so
[component_container-1] [INFO] [1654452655.688421283] [phidget_container]: Found class: rclcpp_components::NodeFactoryTemplatephidgets::HighSpeedEncoderRosI
[component_container-1] [INFO] [1654452655.688436178] [phidget_container]: Instantiate class: rclcpp_components::NodeFactoryTemplatephidgets::HighSpeedEncoderRosI
[component_container-1] [INFO] [1654452655.691503622] [phidgets_high_speed_encoder]: Starting Phidgets Encoders
[component_container-1] [INFO] [1654452655.691837290] [phidgets_high_speed_encoder]: Connecting to Phidgets Encoders serial -1, hub port 0 ...
[component_container-1] [ERROR] [1654452656.692259456] [phidgets_high_speed_encoder]: Encoders: Failed to open device: Timed Out
[component_container-1] [ERROR] [1654452656.694243591] [phidget_container]: Component constructor threw an exception: Failed to open device: Timed Out
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'phidgets_high_speed_encoder' of type 'phidgets::HighSpeedEncoderRosI' in container '/phidget_container': Component constructor threw an exception: Failed to open device: Timed Out
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[component_container-1] [INFO] [1654452743.224424057] [rclcpp]: signal_handler(signal_value=2)
[INFO] [component_container-1]: process has finished cleanly [pid 888865]

`

Using example code from Phidgets for python I can see data from my device:

from Phidget22.Devices.Encoder import *
import time

def onPositionChange(self, positionChange, timeChange, indexTriggered):
    print("PositionChange: " + str(positionChange))
    print("TimeChange: " + str(timeChange))
    print("IndexTriggered: " + str(indexTriggered))
    print("getPosition: " + str(self.getPosition()))

def main():
	encoder0 = Encoder()
	encoder1 = Encoder()
	encoder2 = Encoder()
	encoder3 = Encoder()

	encoder0.setChannel(0)
	encoder1.setChannel(1)
	encoder2.setChannel(2)
	encoder3.setChannel(3)

	encoder0.setOnPositionChangeHandler(onPositionChange)
	encoder1.setOnPositionChangeHandler(onPositionChange)
	encoder2.setOnPositionChangeHandler(onPositionChange)
	encoder3.setOnPositionChangeHandler(onPositionChange)

	encoder0.openWaitForAttachment(5000)
	encoder1.openWaitForAttachment(5000)
	encoder2.openWaitForAttachment(5000)
	encoder3.openWaitForAttachment(5000)

	try:
		input("Press Enter to Stop\n")
	except (Exception, KeyboardInterrupt):
		pass

	encoder0.close()
	encoder1.close()
	encoder2.close()
	encoder3.close()

main()

[teknetik]

USER ERROR:

ros2 launch phidgets_high_speed_encoder high_speed_encoder-launch.py _serial:=641610