jkaniuka/magician_ros2

ROS 2 control stack for Dobot Magician educational manipulator.

Hi 👋, I'm Jan Kaniuka

A passionate Robotics enthusiast

• 👀 I’m interested in robotics, 3D design and systems modeling.
• 🌱 I’m currently working on a high-level controller for a 4-axis robotic manipulator.
• 💞️ I’m looking to collaborate on ROS2-based robotics projects (both related to manipulators and mobile robots).

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magician_ros2's Issues

Dobot is disconnected! Check if the USB cable and power adapter are plugged in.

I am using ubuntu 22.04 LTS and ros2 Humble

rp4@rp4-desktop:~/magician_ros2_control_system_ws$ lsusb
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 004: ID 413c:2107 Dell Computer Corp. KB212-B Quiet Key Keyboard
Bus 001 Device 003: ID 046d:c077 Logitech, Inc. M105 Optical Mouse
Bus 001 Device 008: ID 1a86:55d4 QinHeng Electronics USB Single Serial
Bus 001 Device 002: ID 2109:3431 VIA Labs, Inc. Hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

rp4@rp4-desktop:~/magician_ros2_control_system_ws$ ls /dev/ttyACM*
/dev/ttyACM0
rp4@rp4-desktop:~/magician_ros2_control_system_ws$ ls /dev/ttyUSB*
ls: cannot access '/dev/ttyUSB*': No such file or directory

rp4@rp4-desktop:~/magician_ros2_control_system_ws$ sudo dmesg | grep ttyACM*
[ 6635.561627] cdc_acm 1-1.2:1.0: ttyACM0: USB ACM device
[11047.289786] cdc_acm 1-1.2:1.0: ttyACM0: USB ACM device
[11530.418146] cdc_acm 1-1.1:1.0: ttyACM0: USB ACM device
[13821.654025] cdc_acm 1-1.2:1.0: ttyACM0: USB ACM device

I then made the following changes as suggested by you

src/dobot_driver/dobot_driver/dobot_handle.py                          
from dobot_driver.interface import Interface

bot = Interface('/dev/ttyACM0')

colcon build
source install/setup.bash

rp4@rp4-desktop:~/magician_ros2_control_system_ws$ ros2 launch dobot_bringup dobot_magician_control_system.launch.py

[INFO] [launch]: All log files can be found below /home/rp4/.ros/log/2024-04-15-14-07-40-104854-rp4-desktop-12375

[INFO] [launch]: Default logging verbosity is set to INFO

Dobot is disconnected! Check if the USB cable and power adapter are plugged in.

Unable to build the packages

Hi, I'm trying to build the mgacician package, however the colcon build fails for dobot_msgs:

sudo colcon build
Starting >>> dobot_msgs
Starting >>> dobot_bringup
Starting >>> dobot_control_panel
Starting >>> dobot_description                                                                            
Starting >>> dobot_driver
Starting >>> dobot_visualization_tools                                                                                                                     
Finished <<< dobot_description [1.62s]                                                                                                                                                              
--- stderr: dobot_msgs                                                                                                                                                               
Traceback (most recent call last):
  File "/opt/ros/humble/lib/rosidl_typesupport_fastrtps_cpp/rosidl_typesupport_fastrtps_cpp", line 6, in <module>
    from rosidl_typesupport_fastrtps_cpp import generate_cpp
ModuleNotFoundError: No module named 'rosidl_typesupport_fastrtps_cpp'
Traceback (most recent call last):
  File "/opt/ros/humble/lib/rosidl_typesupport_fastrtps_c/rosidl_typesupport_fastrtps_c", line 7, in <module>
    from rosidl_typesupport_fastrtps_c import generate_typesupport_fastrtps_c
ModuleNotFoundError: No module named 'rosidl_typesupport_fastrtps_c'
Traceback (most recent call last):
  File "/opt/ros/humble/lib/rosidl_typesupport_introspection_cpp/rosidl_typesupport_introspection_cpp", line 6, in <module>
    from rosidl_typesupport_introspection_cpp import generate_cpp
ModuleNotFoundError: No module named 'rosidl_typesupport_introspection_cpp'
gmake[2]: *** [CMakeFiles/dobot_msgs__rosidl_typesupport_fastrtps_cpp.dir/build.make:154: rosidl_typesupport_fastrtps_cpp/dobot_msgs/action/detail/dds_fastrtps/point_to_point__type_support.cpp] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:342: CMakeFiles/dobot_msgs__rosidl_typesupport_fastrtps_cpp.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
Traceback (most recent call last):
  File "/opt/ros/humble/lib/rosidl_typesupport_c/rosidl_typesupport_c", line 6, in <module>
    from rosidl_typesupport_c import generate_c
ModuleNotFoundError: No module named 'rosidl_typesupport_c'
Traceback (most recent call last):
  File "/opt/ros/humble/lib/rosidl_typesupport_introspection_c/rosidl_typesupport_introspection_c", line 6, in <module>
    from rosidl_typesupport_introspection_c import generate_c
ModuleNotFoundError: No module named 'rosidl_typesupport_introspection_c'
gmake[2]: *** [CMakeFiles/dobot_msgs__rosidl_typesupport_fastrtps_c.dir/build.make:154: rosidl_typesupport_fastrtps_c/dobot_msgs/action/detail/point_to_point__rosidl_typesupport_fastrtps_c.h] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:238: CMakeFiles/dobot_msgs__rosidl_typesupport_fastrtps_c.dir/all] Error 2
gmake[2]: *** [CMakeFiles/dobot_msgs__rosidl_typesupport_introspection_cpp.dir/build.make:154: rosidl_typesupport_introspection_cpp/dobot_msgs/action/detail/point_to_point__rosidl_typesupport_introspection_cpp.hpp] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:368: CMakeFiles/dobot_msgs__rosidl_typesupport_introspection_cpp.dir/all] Error 2
gmake[2]: *** [CMakeFiles/dobot_msgs__rosidl_typesupport_c.dir/build.make:152: rosidl_typesupport_c/dobot_msgs/action/point_to_point__type_support.cpp] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:290: CMakeFiles/dobot_msgs__rosidl_typesupport_c.dir/all] Error 2
gmake[2]: *** [CMakeFiles/dobot_msgs__rosidl_typesupport_introspection_c.dir/build.make:154: rosidl_typesupport_introspection_c/dobot_msgs/action/detail/point_to_point__rosidl_typesupport_introspection_c.h] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:264: CMakeFiles/dobot_msgs__rosidl_typesupport_introspection_c.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< dobot_msgs [1.83s, exited with code 2]
Aborted  <<< dobot_driver [1.66s]
Aborted  <<< dobot_bringup [2.00s]                                                                                                  
Aborted  <<< dobot_control_panel [1.99s]
Aborted  <<< dobot_visualization_tools [1.91s]
                                 
Summary: 1 package finished [3.10s]
  1 package failed: dobot_msgs
  4 packages aborted: dobot_bringup dobot_control_panel dobot_driver dobot_visualization_tools
  1 package had stderr output: dobot_msgs
  7 packages not processed

Running Ubuntu 22.04 with ROS2 Humble installed...

Any idea's?

ERROR::/Dobot Magician/Other/Unhandled Exception

Hi！

I am running Dobot Magician on Ubuntu22.04 on VM Virtual box.
The environment is as follows.

Ubuntu 22.04
ROS2 humble
memory:8GB
CPU 8 Core

I built it according to the read me, but when I checked it with command, rqt -s rqt_robot_monitor, the following error occurred.

"""
Full Name: /Dobot Magician/Other/Unhandled Exception
Component: Unhandled Exception
Hardware ID: 
Level: ERROR
Message: EXCEPTION CODES: 0
"""
Description: These alarms are software related, not hardware related, and are handled by another part of the control system. If such an alarm appeared, it is best to restart and re-power the robot and notify the maintainer of the package about it (by e-mail or via GitHub).
Quick fix: Check alarm code in Dobot-Magician-ALARM-Description.pdf document and follow the recommendations

When I perform an action, it is rejected as shown below.

$ ros2 action send_goal /PTP_action  dobot_msgs/action/PointToPoint "{motion_type: 1, target_pose: [200.0, 0.0, 100.0, 0.0], velocity_ratio: 0.5, acceleration_ratio: 0.3}" --feedback


Waiting for an action server to become available...
Sending goal:
     motion_type: 1
target_pose:
- 200.0
- 0.0
- 100.0
- 0.0
velocity_ratio: 0.5
acceleration_ratio: 0.3

Goal was rejected.

The following log is generated in the other terminal. (Actual LED is green)

[ros2 launch dobot_motion dobot_PTP.launch.py-7] [PTP_server-1] [WARN] [1704802521.865999757] [dobot_PTP_server]: Goal rejected because of active alarms (LED diode in the robot base lights up red)

If you know how to deal with it, please let me know.
I apologize for my poor English and issue. Thank you for your support.

when i am tries to run code of launch

i am already connect to dobot and config it to appear green light

Run

ros2 launch dobot_bringup dobot_magician_control_system.launch.py

Error

[INFO] [launch.user]: Loading tool parameters.
[set_tool_null-1] [WARN] Dobot Magician is not connected.
[ERROR] [set_tool_null-1]: process has died [pid 45099, exit code 1, cmd '/home/dear/dev_ws/install/dobot_bringup/lib/dobot_bringup/set_tool_null --ros-args'].

Not able to connect Dobot

After following the command when I connect I am getting error , " Dobot is disconnected and check if USB cable and power adapter are plugged in"

I request you to help to solve the above erroe

[WARN] Dobot Magician is not connected.

Hi,

I am trying get our Dobot Magician running with ROS2 based on your code and instructions. The installation with Ubuntu 22.04 and ROS2 Humble went well, all the projects have been build successfully. Would be great to have the Dobot working with ROS 2.

However, when running the final command to bring all the dobot services up, I end up with the message "Dobot Magician is not connected." This then basically kills all the services.

The Dobot is definitely connected and running, the "lsusb" command shows it and the check in the bring_up service is successful.

I have attached the log from running:
ros2 launch dobot_bringup dobot_magician_control_system.launch.py

Any ideas where to start looking for the errors?

I am wondering where actually the tty serial port to be used is defined. Can you point me to the position in the code?

Thanks and best regards!

Log output:

[INFO] [launch]: All log files can be found below /home/se/.ros/log/2024-02-08-10-50-51-113632-se-XPS-15-9570-51377
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [set_tool_null-1]: process started with pid [51386]
[INFO] [launch.user]: Loading tool parameters.
[set_tool_null-1] [WARN] Dobot Magician is not connected.
[ERROR] [set_tool_null-1]: process has died [pid 51386, exit code 1, cmd '/home/se/magician_ros2_control_system_ws/install/dobot_bringup/lib/dobot_bringup/set_tool_null --ros-args'].
[INFO] [ros2 launch dobot_diagnostics alarms_analyzer.launch.py-2]: process started with pid [51404]
[INFO] [launch.user]: Starting the diagnostics module.
[INFO] [gripper_server-3]: process started with pid [51407]
[INFO] [launch.user]: Gripper control service started.
[INFO] [suction_cup_server-4]: process started with pid [51409]
[INFO] [launch.user]: Suction Cup control service started.
[gripper_server-3] [WARN] Dobot Magician is not connected.
[suction_cup_server-4] [WARN] Dobot Magician is not connected.
[ERROR] [gripper_server-3]: process has died [pid 51407, exit code 1, cmd '/home/se/magician_ros2_control_system_ws/install/dobot_end_effector/lib/dobot_end_effector/gripper_server --ros-args'].
[ERROR] [suction_cup_server-4]: process has died [pid 51409, exit code 1, cmd '/home/se/magician_ros2_control_system_ws/install/dobot_end_effector/lib/dobot_end_effector/suction_cup_server --ros-args'].
[INFO] [ros2 launch dobot_homing dobot_homing.launch.py-5]: process started with pid [51433]
[INFO] [launch.user]: Starting homing service.
[INFO] [launch.user]: Loading homing parameters.
[ros2 launch dobot_homing dobot_homing.launch.py-5] [INFO] [launch]: All log files can be found below /home/se/.ros/log/2024-02-08-10-50-54-432747-se-XPS-15-9570-51435
[ros2 launch dobot_homing dobot_homing.launch.py-5] [INFO] [launch]: Default logging verbosity is set to INFO
[ros2 launch dobot_homing dobot_homing.launch.py-5] [INFO] [homing_server-1]: process started with pid [51436]
[ros2 launch dobot_homing dobot_homing.launch.py-5] [INFO] [homing_params.yaml-2]: process started with pid [51438]
[ros2 launch dobot_homing dobot_homing.launch.py-5] [homing_server-1] [WARN] Dobot Magician is not connected.
[ros2 launch dobot_homing dobot_homing.launch.py-5] [ERROR] [homing_server-1]: process has died [pid 51436, exit code 1, cmd '/home/se/magician_ros2_control_system_ws/install/dobot_homing/lib/dobot_homing/homing_server --ros-args'].
[INFO] [ros2 launch dobot_kinematics dobot_validate_trajectory.launch.py-6]: process started with pid [51441]
[INFO] [launch.user]: Strating trajectory validator service.
[INFO] [launch.user]: Loading kinematics parameters.
[ros2 launch dobot_kinematics dobot_validate_trajectory.launch.py-6] [INFO] [launch]: All log files can be found below /home/se/.ros/log/2024-02-08-10-50-56-442042-se-XPS-15-9570-51443
[ros2 launch dobot_kinematics dobot_validate_trajectory.launch.py-6] [INFO] [launch]: Default logging verbosity is set to INFO
[ros2 launch dobot_kinematics dobot_validate_trajectory.launch.py-6] [INFO] [trajectory_validator_server-1]: process started with pid [51452]
[ros2 launch dobot_kinematics dobot_validate_trajectory.launch.py-6] [INFO] [axis_limits.yaml-2]: process started with pid [51454]
[ros2 launch dobot_kinematics dobot_validate_trajectory.launch.py-6] [trajectory_validator_server-1] pybullet build time: Feb 8 2024 10:07:21
[INFO] [ros2 launch dobot_motion dobot_PTP.launch.py-7]: process started with pid [51466]
[INFO] [launch.user]: Starting PointToPoint action server.
[INFO] [launch.user]: Setting speed and acceleration values.
[ros2 launch dobot_motion dobot_PTP.launch.py-7] [INFO] [launch]: All log files can be found below /home/se/.ros/log/2024-02-08-10-50-58-474538-se-XPS-15-9570-51468
[ros2 launch dobot_motion dobot_PTP.launch.py-7] [INFO] [launch]: Default logging verbosity is set to INFO
[ros2 launch dobot_motion dobot_PTP.launch.py-7] [INFO] [PTP_server-1]: process started with pid [51469]
[ros2 launch dobot_motion dobot_PTP.launch.py-7] [INFO] [PTP_motion_params.yaml-2]: process started with pid [51471]
[ros2 launch dobot_motion dobot_PTP.launch.py-7] [PTP_server-1] [WARN] Dobot Magician is not connected.
[ros2 launch dobot_motion dobot_PTP.launch.py-7] [ERROR] [PTP_server-1]: process has died [pid 51469, exit code 1, cmd '/home/se/magician_ros2_control_system_ws/install/dobot_motion/lib/dobot_motion/PTP_server --ros-args'].
[ros2 launch dobot_homing dobot_homing.launch.py-5] [homing_params.yaml-2] Node not found
[ros2 launch dobot_homing dobot_homing.launch.py-5] [ERROR] [homing_params.yaml-2]: process has died [pid 51438, exit code 1, cmd 'sleep 5;ros2 param load /dobot_homing_srv /home/se/magician_ros2_control_system_ws/install/dobot_homing/share/dobot_homing/config/homing_params.yaml'].
[INFO] [ros2 launch dobot_homing dobot_homing.launch.py-5]: process has finished cleanly [pid 51433]
[ros2 launch dobot_kinematics dobot_validate_trajectory.launch.py-6] [INFO] [axis_limits.yaml-2]: process has finished cleanly [pid 51454]
[ros2 launch dobot_motion dobot_PTP.launch.py-7] [PTP_motion_params.yaml-2] Node not found
[ros2 launch dobot_motion dobot_PTP.launch.py-7] [ERROR] [PTP_motion_params.yaml-2]: process has died [pid 51471, exit code 1, cmd 'sleep 5;ros2 param load /dobot_PTP_server /home/se/magician_ros2_control_system_ws/install/dobot_motion/share/dobot_motion/config/PTP_motion_params.yaml'].
[INFO] [ros2 launch dobot_motion dobot_PTP.launch.py-7]: process has finished cleanly [pid 51466]
[INFO] [state_publisher-8]: process started with pid [51535]
[INFO] [launch.user]: Dobot state updater node started.
[INFO] [launch.user]: Dobot Magician control stack has been launched correctly
[state_publisher-8] [WARN] Dobot Magician is not connected.
[ERROR] [state_publisher-8]: process has died [pid 51535, exit code 1, cmd '/home/se/magician_ros2_control_system_ws/install/dobot_state_updater/lib/dobot_state_updater/state_publisher --ros-args'].