ROS Packages on a PhantomX MK-III

[GrayFox-fra]

Hi dear community,

I don't know if somebody already created a topic to talk about the upgrade of Phantomx MK-III with AX12A servos with MK-IV functions.

I purchased the U2D2 , a Raspberry pi 4B and than I followed the official guide to prepare the Raspberry Pi 4B and install the ROS Noetic and Interbotix X-Series Hexapod ROS Packages.

When I try to execute the Quickstart
$ roslaunch interbotix_xshexapod_control xshexapod_control.launch robot_model:=pxmark4

this is the error result:

pibot@ubuntu:~$ roslaunch interbotix_xshexapod_control xshexapod_control.launch robot_model:=pxmark4... logging to /home/pibot/.ros/log/628392f4-e523-11ec-95c8-bbf407757888/roslaunch-ubuntu-1581.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.


started roslaunch server http://192.168.1.209:34287/


SUMMARY
========


PARAMETERS
 * /pxmark4/robot_description: <?xml version="1....
 * /pxmark4/xs_sdk/load_configs: True
 * /pxmark4/xs_sdk/mode_configs: /home/pibot/inter...
 * /pxmark4/xs_sdk/motor_configs: /home/pibot/inter...
 * /rosdistro: noetic
 * /rosversion: 1.15.14


NODES
  /pxmark4/
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    xs_sdk (interbotix_xs_sdk/xs_sdk)


ROS_MASTER_URI=http://localhost:11311


process[pxmark4/robot_state_publisher-1]: started with pid [1631]
process[pxmark4/xs_sdk-2]: started with pid [1632]
[ WARN] [1654470169.017086585]: The root link pxmark4/base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[ INFO] [1654470169.032662085]: [xs_sdk] Loaded mode configs from '/home/pibot/interbotix_ws/src/interbotix_ros_crawlers/interbotix_ros_xshexapods/interbotix_xshexapod_control/config/modes.yaml'.
[ INFO] [1654470169.042577752]: [xs_sdk] Loaded motor configs from '/home/pibot/interbotix_ws/src/interbotix_ros_crawlers/interbotix_ros_xshexapods/interbotix_xshexapod_control/config/pxmark4.yaml'.
[ INFO] [1654470169.047990326]: [xs_sdk] Found Dynamixel ID : '18',     Model : 'AX-12A',       Joint Name : 'right_back_tibia'.
[ INFO] [1654470169.060862937]: [xs_sdk] Found Dynamixel ID : '17',     Model : 'AX-12A',       Joint Name : 'right_back_femur'.
[ INFO] [1654470169.073893826]: [xs_sdk] Found Dynamixel ID : '15',     Model : 'AX-12A',       Joint Name : 'right_middle_tibia'.
[ INFO] [1654470169.086896492]: [xs_sdk] Found Dynamixel ID : '1',      Model : 'AX-12A',       Joint Name : 'left_back_coxa'.
[ INFO] [1654470169.099908752]: [xs_sdk] Found Dynamixel ID : '5',      Model : 'AX-12A',       Joint Name : 'left_middle_femur'.
[ INFO] [1654470169.112861789]: [xs_sdk] Found Dynamixel ID : '7',      Model : 'AX-12A',       Joint Name : 'left_front_coxa'.
[ INFO] [1654470169.125879104]: [xs_sdk] Found Dynamixel ID : '2',      Model : 'AX-12A',       Joint Name : 'left_back_femur'.
[ INFO] [1654470169.138871307]: [xs_sdk] Found Dynamixel ID : '3',      Model : 'AX-12A',       Joint Name : 'left_back_tibia'.
[ INFO] [1654470169.151831252]: [xs_sdk] Found Dynamixel ID : '14',     Model : 'AX-12A',       Joint Name : 'right_middle_femur'.
[ INFO] [1654470169.164830641]: [xs_sdk] Found Dynamixel ID : '4',      Model : 'AX-12A',       Joint Name : 'left_middle_coxa'.
[ INFO] [1654470169.177830381]: [xs_sdk] Found Dynamixel ID : '10',     Model : 'AX-12A',       Joint Name : 'right_front_coxa'.
[ INFO] [1654470169.190822289]: [xs_sdk] Found Dynamixel ID : '6',      Model : 'AX-12A',       Joint Name : 'left_middle_tibia'.
[ INFO] [1654470169.203821900]: [xs_sdk] Found Dynamixel ID : '8',      Model : 'AX-12A',       Joint Name : 'left_front_femur'.
[ INFO] [1654470169.216812678]: [xs_sdk] Found Dynamixel ID : '16',     Model : 'AX-12A',       Joint Name : 'right_back_coxa'.
[ INFO] [1654470169.229826881]: [xs_sdk] Found Dynamixel ID : '13',     Model : 'AX-12A',       Joint Name : 'right_middle_coxa'.
[ INFO] [1654470169.244560529]: [xs_sdk] Found Dynamixel ID : '11',     Model : 'AX-12A',       Joint Name : 'right_front_femur'.
[ INFO] [1654470169.257862066]: [xs_sdk] Found Dynamixel ID : '9',      Model : 'AX-12A',       Joint Name : 'left_front_tibia'.
[ INFO] [1654470169.270839881]: [xs_sdk] Found Dynamixel ID : '12',     Model : 'AX-12A',       Joint Name : 'right_front_tibia'.
[ INFO] [1654470169.283678455]: [xs_sdk] Writing startup register values to EEPROM.
[ERROR] [1654470169.294858252]: [xs_sdk] Failed to write value[0] on items[Drive_Mode] to [ID : 1]
[ERROR] [1654470169.294953178]: [xs_sdk] Failed to write configurations to all motors. Shutting down...
[ERROR] [1654470169.295002992]: [xs_sdk] For troubleshooting, please see https://www.trossenrobotics.com/docs/interbotix_xsarms/troubleshooting/index.html
[pxmark4/xs_sdk-2] process has finished cleanly
log file: /home/pibot/.ros/log/628392f4-e523-11ec-95c8-bbf407757888/pxmark4-xs_sdk-2*.log

There's someone who has tried and succeeded in this project?

Maybe there's an easier way to control the MK-III with the Raspberry Pi? Or I've to abandone this idea?

Thanks to all !!!

[lukeschmitt-tr]

The Interbotix XS SDK only supports the use of X-Series DYNAMIXELs and can't communicate properly with the older AX Series servos. You may be able to make modifications to the xs_sdk to make it work, though it would require significant effort and would result in far fewer features.