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'].