Package xsarm_puppet failed on ROS2 humble #48

kandeng · 2024-04-04T09:27:39Z

kandeng
Apr 4, 2024

Hi, there,

Following the instruction on xsarm puppet ros package on youtube, Interbotix Tutorials: X-Series Arms | Working With Multiple Arms at 7:53, we successfully ran the puppet example with ROS1 noetic, but failed with ROS2 humble. Can you please give us a hint how to fix the problem with ROS2?

More details,

We used a wx250s for the master arm, and a vx300s for the puppet arm, to run xsarm puppet example.

1. Ran xarms puppet example on ROS2 humble, failed

We downloaded and installed interbotix ROS2 version, then launched xsarm_puppet package using this command,

$ cd ~/interbotix_ws
$ ros2 launch interbotix_xsarm_puppet xsarm_puppet.launch.py robot_model_leader:=wx250s robot_model_follower:=vx300s

[INFO] [launch]: All log files can be found below /home/robot/.ros/log/2024-04-03-23-56-25-004170-pc-470355
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [xs_sdk-1]: process started with pid [470378]
[INFO] [robot_state_publisher-2]: process started with pid [470380]
[INFO] [xs_sdk-3]: process started with pid [470382]
[INFO] [robot_state_publisher-4]: process started with pid [470384]
[INFO] [xsarm_puppet-5]: process started with pid [470386]
[INFO] [static_transform_publisher-6]: process started with pid [470388]
[INFO] [static_transform_publisher-7]: process started with pid [470390]
[INFO] [rviz2-8]: process started with pid [470392]
[xs_sdk-1] [INFO] Using Interbotix X-Series Driver Version: 'v0.3.3'.
[xs_sdk-1] [INFO] Using logging level 'INFO'.
[xs_sdk-1] [INFO] Loaded mode configs from '/home/robot/interbotix_ws/install/interbotix_xsarm_puppet/share/interbotix_xsarm_puppet/config/leader_modes.yaml'.
[xs_sdk-3] [INFO] Using Interbotix X-Series Driver Version: 'v0.3.3'.
[xs_sdk-3] [INFO] Using logging level 'INFO'.
[xs_sdk-1] [INFO] Loaded motor configs from '/home/robot/interbotix_ws/install/interbotix_xsarm_control/share/interbotix_xsarm_control/config/wx250s.yaml'.
[xs_sdk-3] [INFO] Loaded mode configs from '/home/robot/interbotix_ws/install/interbotix_xsarm_puppet/share/interbotix_xsarm_puppet/config/follower_modes.yaml'.
[xs_sdk-3] [INFO] Loaded motor configs from '/home/robot/interbotix_ws/install/interbotix_xsarm_control/share/interbotix_xsarm_control/config/wx250s.yaml'.
[xs_sdk-1] [INFO] Pinging all motors specified in the motor_config file. (Attempt 1/3)
[xs_sdk-3] [INFO] Pinging all motors specified in the motor_config file. (Attempt 1/3)
[static_transform_publisher-6] [INFO] [1712159785.478042512] [tf_broadcaster_leader]: Spinning until stopped - publishing transform
[static_transform_publisher-6] translation: ('0.000000', '-0.250000', '0.000000')
[static_transform_publisher-6] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-6] from '/world' to 'leader/base_link'
[static_transform_publisher-7] [INFO] [1712159785.481227766] [tf_broadcaster_follower]: Spinning until stopped - publishing transform
[static_transform_publisher-7] translation: ('0.000000', '0.250000', '0.000000')
[static_transform_publisher-7] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-7] from '/world' to 'follower/base_link'
[xs_sdk-1] [INFO]         Found DYNAMIXEL ID:  8, Model: 'XL430-W250', Joint Name: 'wrist_rotate'.
[xs_sdk-3] [INFO]         Found DYNAMIXEL ID:  8, Model: 'XM430-W350', Joint Name: 'wrist_rotate'.
[xs_sdk-1] [INFO]         Found DYNAMIXEL ID:  7, Model: 'XM430-W350', Joint Name: 'wrist_angle'.
[xs_sdk-3] [INFO]         Found DYNAMIXEL ID:  7, Model: 'XM540-W270', Joint Name: 'wrist_angle'.
[xs_sdk-1] [INFO]         Found DYNAMIXEL ID:  5, Model: 'XM430-W350', Joint Name: 'elbow_shadow'.
[xs_sdk-3] [INFO]         Found DYNAMIXEL ID:  5, Model: 'XM540-W270', Joint Name: 'elbow_shadow'.
[xs_sdk-1] [INFO]         Found DYNAMIXEL ID:  4, Model: 'XM430-W350', Joint Name: 'elbow'.
[xs_sdk-3] [INFO]         Found DYNAMIXEL ID:  4, Model: 'XM540-W270', Joint Name: 'elbow'.
[xs_sdk-1] [INFO]         Found DYNAMIXEL ID:  6, Model: 'XM430-W350', Joint Name: 'forearm_roll'.
[xs_sdk-3] [INFO]         Found DYNAMIXEL ID:  6, Model: 'XM540-W270', Joint Name: 'forearm_roll'.
[xs_sdk-1] [INFO]         Found DYNAMIXEL ID:  2, Model: 'XM430-W350', Joint Name: 'shoulder'.
[xs_sdk-3] [INFO]         Found DYNAMIXEL ID:  2, Model: 'XM540-W270', Joint Name: 'shoulder'.
[xs_sdk-1] [INFO]         Found DYNAMIXEL ID:  9, Model: 'XL430-W250', Joint Name: 'gripper'.
[xs_sdk-3] [INFO]         Found DYNAMIXEL ID:  9, Model: 'XM430-W350', Joint Name: 'gripper'.
[xs_sdk-1] [INFO]         Found DYNAMIXEL ID:  3, Model: 'XM430-W350', Joint Name: 'shoulder_shadow'.
[xs_sdk-3] [INFO]         Found DYNAMIXEL ID:  3, Model: 'XM540-W270', Joint Name: 'shoulder_shadow'.
[xs_sdk-1] [INFO]         Found DYNAMIXEL ID:  1, Model: 'XM430-W350', Joint Name: 'waist'.
[xs_sdk-3] [INFO]         Found DYNAMIXEL ID:  1, Model: 'XM540-W270', Joint Name: 'waist'.
[xs_sdk-1] [WARN] Writing startup register values to EEPROM. This only needs to be done once on a robot if using a default motor config file, or after a motor config file has been modified. Can set `write_eeprom_on_startup` to false from now on.
[xs_sdk-3] [WARN] Writing startup register values to EEPROM. This only needs to be done once on a robot if using a default motor config file, or after a motor config file has been modified. Can set `write_eeprom_on_startup` to false from now on.
[xs_sdk-1] [INFO] The operating mode for the 'arm' group was changed to 'position' with profile type 'time'.
[xs_sdk-3] [INFO] The operating mode for the 'arm' group was changed to 'position' with profile type 'time'.
[xs_sdk-1] [INFO] The 'arm' group was torqued off.
[xs_sdk-3] [INFO] The operating mode for the 'gripper' joint was changed to 'linear_position' with profile type 'time'.
[xs_sdk-3] [INFO] Interbotix X-Series Driver is up!
[xs_sdk-1] [INFO] The operating mode for the 'gripper' joint was changed to 'pwm' with profile type 'time'.
[xs_sdk-1] [INFO] The 'gripper' joint was torqued off.
[xs_sdk-1] [INFO] Interbotix X-Series Driver is up!
[xs_sdk-3] [INFO] [1712159787.295818931] [interbotix_xs_sdk.xs_sdk]: InterbotixRobotXS is up!
[xs_sdk-1] [INFO] [1712159787.350688980] [interbotix_xs_sdk.xs_sdk]: InterbotixRobotXS is up!
[xsarm_puppet-5] [INFO] [1712159787.393662517] [xsarm_puppet]: Ready to start puppetting!
[INFO] [rviz2-8]: process has finished cleanly [pid 470392]
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[static_transform_publisher-6] [INFO] [1712159865.226433126] [rclcpp]: signal_handler(signum=2)
[static_transform_publisher-7] [INFO] [1712159865.226501054] [rclcpp]: signal_handler(signum=2)
[xs_sdk-1] [INFO] [1712159865.226601824] [rclcpp]: signal_handler(signum=2)
[xsarm_puppet-5] [INFO] [1712159865.226602378] [rclcpp]: signal_handler(signum=2)
[xs_sdk-3] [INFO] [1712159865.226602333] [rclcpp]: signal_handler(signum=2)
[INFO] [static_transform_publisher-7]: process has finished cleanly [pid 470390]
[INFO] [static_transform_publisher-6]: process has finished cleanly [pid 470388]
[INFO] [xsarm_puppet-5]: process has finished cleanly [pid 470386]
[INFO] [robot_state_publisher-4]: process has finished cleanly [pid 470384]
[INFO] [robot_state_publisher-2]: process has finished cleanly [pid 470380]
[INFO] [xs_sdk-1]: process has finished cleanly [pid 470378]
[INFO] [xs_sdk-3]: process has finished cleanly [pid 470382]

It failed, with the following details,

After launching the interbotix_xsarm_puppet package as above, the leader arm wx250s, started with a home/sleep position in rviz, as we expected.
However, the follower arm vx300s, stretched out in stead of staying at home/sleep position, referring to the following picture

When we manually manipulated the leader arm wx250s, the follower arm vx300s didn't exactly imitate the movement of its leader, referring to this video clip.

All the source codes, including the configuration files, are stored in our github repo.

2. Ran xarms puppet example on ROS1 noetic, successful

We downloaded and installed interbotix ROS1 version, then launched xsarm_puppet package using this command,

$ cd ~/interbotix_ws
$ roslaunch interbotix_xsarm_control xsarm_control.launch robot_model:=wx250s robot_model2:=vx300s

... logging to /home/robot/.ros/log/8303e2fa-f1c8-11ee-b780-7d6fab270688/roslaunch-robot-31260.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://192.168.0.100:37623/
SUMMARY
========
PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /wx250s/robot_description: <?xml version="1....
 * /wx250s/xs_sdk/load_configs: True
 * /wx250s/xs_sdk/mode_configs: /home/robot/inter...
 * /wx250s/xs_sdk/motor_configs: /home/robot/inter...
NODES
  /wx250s/
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz (rviz/rviz)
    xs_sdk (interbotix_xs_sdk/xs_sdk)
 
ROS_MASTER_URI=http://localhost:11311
process[wx250s/robot_state_publisher-1]: started with pid [31339]
process[wx250s/rviz-2]: started with pid [31340]
process[wx250s/xs_sdk-3]: started with pid [31341]
[ INFO] [1712162326.428827007]: [xs_sdk] Loaded mode configs from '/home/robot/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_control/config/modes.yaml'.
[ INFO] [1712162326.429136415]: [xs_sdk] Loaded motor configs from '/home/robot/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_control/config/wx250s.yaml'.
[ INFO] [1712162326.430153435]: [xs_sdk] Pinging all motors specified in the motor_config file. (Attempt 1/3)
[ INFO] [1712162326.464764714]: [xs_sdk]        Found DYNAMIXEL ID:  8, Model: 'XL430-W250', Joint Name: 'wrist_rotate'.
[ INFO] [1712162326.510764251]: [xs_sdk]        Found DYNAMIXEL ID:  7, Model: 'XM430-W350', Joint Name: 'wrist_angle'.
[ INFO] [1712162326.556774781]: [xs_sdk]        Found DYNAMIXEL ID:  5, Model: 'XM430-W350', Joint Name: 'elbow_shadow'.
[ INFO] [1712162326.602760546]: [xs_sdk]        Found DYNAMIXEL ID:  4, Model: 'XM430-W350', Joint Name: 'elbow'.
[ INFO] [1712162326.648799049]: [xs_sdk]        Found DYNAMIXEL ID:  6, Model: 'XM430-W350', Joint Name: 'forearm_roll'.
[ INFO] [1712162326.694784084]: [xs_sdk]        Found DYNAMIXEL ID:  2, Model: 'XM430-W350', Joint Name: 'shoulder'.
[ INFO] [1712162326.740774828]: [xs_sdk]        Found DYNAMIXEL ID:  9, Model: 'XL430-W250', Joint Name: 'gripper'.
[ INFO] [1712162326.786773084]: [xs_sdk]        Found DYNAMIXEL ID:  3, Model: 'XM430-W350', Joint Name: 'shoulder_shadow'.
[ INFO] [1712162326.832751993]: [xs_sdk]        Found DYNAMIXEL ID:  1, Model: 'XM430-W350', Joint Name: 'waist'.
[ INFO] [1712162326.844152073]: [xs_sdk] Writing startup register values to EEPROM. This only needs to be done once on a robot. Set the `~load_configs` parameter to false from now on.
[ INFO] [1712162327.979795223]: [xs_sdk] The operating mode for the 'arm' group was changed to position.
[ INFO] [1712162328.013759970]: [xs_sdk] The operating mode for the 'gripper' joint was changed to pwm.
[ INFO] [1712162328.226745478]: [xs_sdk] Interbotix 'xs_sdk' node is up!

It worked well as expected,

The 2 arms' starting positions were both at home/sleep, referring to the following picture

When we manually manipulate the master arm wx250s, the puppet arm vx300s imitated the movement of its master correctly, referring to this video clip.

All the source codes, including the configuration files, are stored in our github repo.

Answered by kandeng

Apr 9, 2024

Following Soloman's instruction, the puppet package works fine with ROS2 humble!

"I believe the issue stems from how ROS2 scopes launch file arguments. I think a fix is to explicitly pass the location of the motor configs file within the xsarm_puppet.launch.py file for both the leader and follower.

I've attached a file where this is done (I haven't tested it yet though). You should hopefully be able to swap your current xsarm_puppet.launch.py file with the attached one and it should work with the same launch command you are currently using. "

More details,

We directly used Solomon's code, "xsarm_puppet.launch.py", not changed any words. And the puppet package worked successfully, referri…

View full answer

swiz23 · 2024-04-07T12:47:06Z

swiz23
Apr 7, 2024

From the videos, it looks like you are using ROS1 to control the master/puppet arms on the left side of the setup (from the camera's viewpoint) and ROS2 to control the master/puppet arms on the right side of the setup. Could you temporarily test the master/puppet arms on the right side using ROS1? If ROS1 works as expected, that means the problem probably lies somewhere in the ROS2 code. If ROS1 doesn't work as expected, that means there might be a problem with the motor configuration.

1 reply

kandeng Apr 7, 2024
Author

"Could you temporarily test the master/puppet arms on the right side using ROS1? "

Sure, we will do it tomorrow. (It is now 23:40 in Beijing).

Many thanks!

kandeng · 2024-04-08T15:37:28Z

kandeng
Apr 8, 2024
Author

Hi Solomon, many thanks for your reply.

Following your instruction, we tested the puppet package again on both ROS1 noetic and ROS2 humble, using the same pair of arms, wx250s and vx300s.

Referring to the videos,

the puppet package behaved correctly on ROS1 noetic,

but not as expected on ROS2 humble,

In addition, when looking into the servo status, we noticed that,

When using ROS2, the positions of shoulder (red arrows) and elbow (blue arrows) were correctly passed from "leader position" (the third line) to "follower's cmd" (the first line),

but NOT correctly passed from "follower's cmd" (the first line) to "follower's position" (the second line).

When using ROS1, the positions of shoulder (red arrows) and elbow (blue arrows) were correctly passed from "master's position" (the first line) to "puppet's position" (the second line).

It seems something might be wrong when passing the positions of shoulder and elbow, from "follower's cmd" (the first line) to "follower's position", in ROS2 only. And the follower is vx300s.

Our question is how to fix the problem?

Many thanks for help.

5 replies

swiz23 Apr 8, 2024

Hey,

I think I discovered the issue and a possible fix. From the ROS2 terminal output when launching the puppet control code, it seems that the correct model is loaded for the leader robot (wx250s), but not the follower robot (it should be vx300s but is actually wx250s as well). As the wx250s robot has the same number of motors as the vx300s, there's no error during launch that the wrong robot was loaded. However, the shoulder and elbow joints of the wx250s robot are configured differently than those same joints on the vx300s robot. I believe the issue stems from how ROS2 scopes launch file arguments. I think a fix is to explicitly pass the location of the motor configs file within the xsarm_puppet.launch.py file for both the leader and follower. I've attached a file where this is done (I haven't tested it yet though). You should hopefully be able to swap your current xsarm_puppet.launch.py file with the attached one and it should work with the same launch command you are currently using. Note that you may have to remove the '.txt' extension once you download it. If this fixes the issue, then you should open a bug report on Trossen's github.

xsarm_puppet.launch.py.txt

kandeng Apr 9, 2024
Author

A quick update, your suggestion works!

More details come later, stay tuned.

Curious, what happens internally which causes the following behave.

" it seems that the correct model is loaded for the leader robot (wx250s), but not the follower robot (it should be vx300s but is actually wx250s as well). "

kandeng Apr 9, 2024
Author

"If this fixes the issue, then you should open a bug report on Trossen's github".

A dummy question, how to open a bug report? When we created a new topic in the github discussion forum, the github gave us several options, but none of them is related with "open a bug report".

swiz23 Apr 9, 2024

Go to https://github.com/Interbotix/interbotix_ros_manipulators/issues, click the 'New' button, then select the 'Bug Report' option.

kandeng Apr 10, 2024
Author

Gotcha, we will do it today.

kandeng · 2024-04-09T04:36:32Z

kandeng
Apr 9, 2024
Author

Following Soloman's instruction, the puppet package works fine with ROS2 humble!

"I believe the issue stems from how ROS2 scopes launch file arguments. I think a fix is to explicitly pass the location of the motor configs file within the xsarm_puppet.launch.py file for both the leader and follower.

I've attached a file where this is done (I haven't tested it yet though). You should hopefully be able to swap your current xsarm_puppet.launch.py file with the attached one and it should work with the same launch command you are currently using. "

More details,

We directly used Solomon's code, "xsarm_puppet.launch.py", not changed any words. And the puppet package worked successfully, referring to the video clip.

We executed the following command, and the log displayed in the terminal was copied&pasted as following,

$ ros2 launch interbotix_xsarm_puppet xsarm_puppet.launch3.py robot_model_leader:=wx250s robot_model_follower:=vx300s

[INFO] [launch]: All log files can be found below /home/robot/.ros/log/2024-04-09-09-25-35-020802-pc-153345
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [xs_sdk-1]: process started with pid [153367]
[INFO] [robot_state_publisher-2]: process started with pid [153369]
[INFO] [xs_sdk-3]: process started with pid [153371]
[INFO] [robot_state_publisher-4]: process started with pid [153373]
[INFO] [xsarm_puppet-5]: process started with pid [153375]
[INFO] [static_transform_publisher-6]: process started with pid [153377]
[INFO] [static_transform_publisher-7]: process started with pid [153379]
[INFO] [rviz2-8]: process started with pid [153381]
[xs_sdk-1] [INFO] Using Interbotix X-Series Driver Version: 'v0.3.3'.
[xs_sdk-1] [INFO] Using logging level 'INFO'.
[xs_sdk-1] [INFO] Loaded mode configs from '/home/robot/interbotix_ws/install/interbotix_xsarm_puppet/share/interbotix_xsarm_puppet/config/leader_modes.yaml'.
[xs_sdk-1] [INFO] Loaded motor configs from '/home/robot/interbotix_ws/install/interbotix_xsarm_control/share/interbotix_xsarm_control/config/wx250s.yaml'.
[xs_sdk-3] [INFO] Using Interbotix X-Series Driver Version: 'v0.3.3'.
[xs_sdk-3] [INFO] Using logging level 'INFO'.
[xs_sdk-1] [INFO] Pinging all motors specified in the motor_config file. (Attempt 1/3)
[xs_sdk-3] [INFO] Loaded mode configs from '/home/robot/interbotix_ws/install/interbotix_xsarm_puppet/share/interbotix_xsarm_puppet/config/follower_modes.yaml'.
[xs_sdk-3] [INFO] Loaded motor configs from '/home/robot/interbotix_ws/install/interbotix_xsarm_control/share/interbotix_xsarm_control/config/vx300s.yaml'.
[xs_sdk-3] [INFO] Pinging all motors specified in the motor_config file. (Attempt 1/3)
[static_transform_publisher-6] [INFO] [1712625935.491035962] [tf_broadcaster_leader]: Spinning until stopped - publishing transform
[static_transform_publisher-6] translation: ('0.000000', '-0.250000', '0.000000')
[static_transform_publisher-6] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-6] from '/world' to 'leader/base_link'
[static_transform_publisher-7] [INFO] [1712625935.493756687] [tf_broadcaster_follower]: Spinning until stopped - publishing transform
[static_transform_publisher-7] translation: ('0.000000', '0.250000', '0.000000')
[static_transform_publisher-7] rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
[static_transform_publisher-7] from '/world' to 'follower/base_link'
[xs_sdk-1] [INFO]         Found DYNAMIXEL ID:  8, Model: 'XL430-W250', Joint Name: 'wrist_rotate'.
[xs_sdk-3] [INFO]         Found DYNAMIXEL ID:  8, Model: 'XM430-W350', Joint Name: 'wrist_rotate'.
[xs_sdk-1] [INFO]         Found DYNAMIXEL ID:  7, Model: 'XM430-W350', Joint Name: 'wrist_angle'.
[xs_sdk-3] [INFO]         Found DYNAMIXEL ID:  7, Model: 'XM540-W270', Joint Name: 'wrist_angle'.
[xs_sdk-1] [INFO]         Found DYNAMIXEL ID:  5, Model: 'XM430-W350', Joint Name: 'elbow_shadow'.
[xs_sdk-3] [INFO]         Found DYNAMIXEL ID:  5, Model: 'XM540-W270', Joint Name: 'elbow_shadow'.
[xs_sdk-1] [INFO]         Found DYNAMIXEL ID:  4, Model: 'XM430-W350', Joint Name: 'elbow'.
[xs_sdk-3] [INFO]         Found DYNAMIXEL ID:  4, Model: 'XM540-W270', Joint Name: 'elbow'.
[xs_sdk-1] [INFO]         Found DYNAMIXEL ID:  6, Model: 'XM430-W350', Joint Name: 'forearm_roll'.
[xs_sdk-3] [INFO]         Found DYNAMIXEL ID:  6, Model: 'XM540-W270', Joint Name: 'forearm_roll'.
[xs_sdk-1] [INFO]         Found DYNAMIXEL ID:  2, Model: 'XM430-W350', Joint Name: 'shoulder'.
[xs_sdk-3] [INFO]         Found DYNAMIXEL ID:  2, Model: 'XM540-W270', Joint Name: 'shoulder'.
[xs_sdk-1] [INFO]         Found DYNAMIXEL ID:  9, Model: 'XL430-W250', Joint Name: 'gripper'.
[xs_sdk-3] [INFO]         Found DYNAMIXEL ID:  9, Model: 'XM430-W350', Joint Name: 'gripper'.
[xs_sdk-1] [INFO]         Found DYNAMIXEL ID:  3, Model: 'XM430-W350', Joint Name: 'shoulder_shadow'.
[xs_sdk-3] [INFO]         Found DYNAMIXEL ID:  3, Model: 'XM540-W270', Joint Name: 'shoulder_shadow'.
[xs_sdk-1] [INFO]         Found DYNAMIXEL ID:  1, Model: 'XM430-W350', Joint Name: 'waist'.
[xs_sdk-3] [INFO]         Found DYNAMIXEL ID:  1, Model: 'XM540-W270', Joint Name: 'waist'.
[xs_sdk-1] [WARN] Writing startup register values to EEPROM. This only needs to be done once on a robot if using a default motor config file, or after a motor config file has been modified. Can set `write_eeprom_on_startup` to false from now on.
[xs_sdk-3] [WARN] Writing startup register values to EEPROM. This only needs to be done once on a robot if using a default motor config file, or after a motor config file has been modified. Can set `write_eeprom_on_startup` to false from now on.
[xs_sdk-1] [INFO] The operating mode for the 'arm' group was changed to 'position' with profile type 'velocity'.
[xs_sdk-3] [INFO] The operating mode for the 'arm' group was changed to 'position' with profile type 'velocity'.
[xs_sdk-3] [INFO] The operating mode for the 'gripper' joint was changed to 'linear_position' with profile type 'velocity'.
[xs_sdk-3] [INFO] Interbotix X-Series Driver is up!
[xs_sdk-1] [INFO] The 'arm' group was torqued off.
[xs_sdk-1] [INFO] The operating mode for the 'gripper' joint was changed to 'position' with profile type 'velocity'.
[xs_sdk-1] [INFO] The 'gripper' joint was torqued off.
[xs_sdk-1] [INFO] Interbotix X-Series Driver is up!
[xs_sdk-3] [INFO] [1712625937.212520865] [interbotix_xs_sdk.xs_sdk]: InterbotixRobotXS is up!
[xs_sdk-1] [INFO] [1712625937.287749250] [interbotix_xs_sdk.xs_sdk]: InterbotixRobotXS is up!
[xsarm_puppet-5] [INFO] [1712625937.329807969] [xsarm_puppet]: Ready to start puppetting!

0 replies

lukeschmitt-tr · 2024-04-09T14:53:43Z

lukeschmitt-tr
Apr 9, 2024
Maintainer

@kandeng We also encountered this issue when porting ALOHA/Mobile ALOHA code to ROS 2. You can see how we accomplished passing the motor configs down here. We'll fix the xsarm_puppet launch file here soon.

@swiz23 Thanks for your help on this issue and for offering a fix!

EDIT: See Interbotix/interbotix_ros_manipulators#179 for the fix PR.

1 reply

kandeng Apr 10, 2024
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Many thanks! @swiz23 @lukeschmitt-tr

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Trossen Robotics (Interbotix)

Package xsarm_puppet failed on ROS2 humble #48

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Trossen Robotics (Interbotix)

Package xsarm_puppet failed on ROS2 humble #48

kandeng Apr 4, 2024

1. Ran xarms puppet example on ROS2 humble, failed

2. Ran xarms puppet example on ROS1 noetic, successful

Replies: 4 comments · 7 replies

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