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spawner_joint_state_broadcaster 및 spawner_dsr_controller2 이슈 #152

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hanprd opened this issue Jan 16, 2025 · 8 comments
Closed

spawner_joint_state_broadcaster 및 spawner_dsr_controller2 이슈 #152

hanprd opened this issue Jan 16, 2025 · 8 comments

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@hanprd
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hanprd commented Jan 16, 2025 •
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안녕하세요.
Ubuntu 22.04.5 LTS에서 ROS2 Humble 기반의 DSR 패키지 실행시 이슈가 발생하여 문의를 드립니다.
주요 오류는 Servo on까지 정상적으로 이루어지나 아래 메시지와 함께 최종 연결까지 이루어지지 않는 것입니다.
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [connection-1]: process started with pid [1947017]
[INFO] [ros2_control_node-2]: process started with pid [1947019]
[INFO] [robot_state_publisher-3]: process started with pid [1947021]
[INFO] [spawner-4]: process started with pid [1947023]
[INFO] [spawner-5]: process started with pid [1947025]
[ros2_control_node-2] [WARN] [1737044563.354498570] [dsr01.controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ros2_control_node-2] [INFO] [1737044563.354927061] [resource_manager]: Loading hardware 'm0609'
[ros2_control_node-2] [INFO] [1737044563.376889154] [resource_manager]: Initialize hardware 'm0609'
[robot_state_publisher-3] [INFO] [1737044563.405445158] [dsr01.robot_state_publisher]: got segment base_link
[robot_state_publisher-3] [INFO] [1737044563.405578354] [dsr01.robot_state_publisher]: got segment link_1
[robot_state_publisher-3] [INFO] [1737044563.405593521] [dsr01.robot_state_publisher]: got segment link_2
[robot_state_publisher-3] [INFO] [1737044563.405602868] [dsr01.robot_state_publisher]: got segment link_3
[robot_state_publisher-3] [INFO] [1737044563.405611490] [dsr01.robot_state_publisher]: got segment link_4
[robot_state_publisher-3] [INFO] [1737044563.405620027] [dsr01.robot_state_publisher]: got segment link_5
[robot_state_publisher-3] [INFO] [1737044563.405628497] [dsr01.robot_state_publisher]: got segment link_6
[robot_state_publisher-3] [INFO] [1737044563.405636802] [dsr01.robot_state_publisher]: got segment world
[spawner-5] [INFO] [1737044563.748886169] [dsr01.spawner_joint_state_broadcaster]: waiting for service /dsr01/controller_manager/list_controllers to become available...
[spawner-4] [INFO] [1737044563.752184009] [dsr01.spawner_dsr_controller2]: waiting for service /dsr01/controller_manager/list_controllers to become available...
[ros2_control_node-2] [INFO] [1737044571.377415745] [dsr_hw_interface2]: [on_init] Hardware name : m0609, type : system, class type : dsr_hardware2/DRHWInterface
[ros2_control_node-2] [INFO] [1737044571.385118252] [dsr01.dsr_hw_interface2]: name: dsr01
[ros2_control_node-2] [INFO] [1737044571.385209586] [dsr01.dsr_hw_interface2]: rate: 100
[ros2_control_node-2] [INFO] [1737044571.385279014] [dsr01.dsr_hw_interface2]: standby: 5000
[ros2_control_node-2] [INFO] [1737044571.385315462] [dsr01.dsr_hw_interface2]: command: true
[ros2_control_node-2] [INFO] [1737044571.385337925] [dsr01.dsr_hw_interface2]: host: 192.168.137.100
[ros2_control_node-2] [INFO] [1737044571.385363786] [dsr01.dsr_hw_interface2]: port: 12345
[ros2_control_node-2] [INFO] [1737044571.385385479] [dsr01.dsr_hw_interface2]: mode: real
[ros2_control_node-2] [INFO] [1737044571.385428587] [dsr01.dsr_hw_interface2]: model: m0609
[ros2_control_node-2] [INFO] [1737044571.385449262] [dsr01.dsr_hw_interface2]: gripper: none
[ros2_control_node-2] [INFO] [1737044571.385490038] [dsr01.dsr_hw_interface2]: mobile: none
[ros2_control_node-2] [INFO] [1737044571.385628938] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-2]
[ros2_control_node-2] [INFO] [1737044571.385662100] [dsr_hw_interface2]: INITAILIZE
[ros2_control_node-2] [INFO] [1737044571.385677089] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-2]
[ros2_control_node-2] Depreciated API.. deleted soon.
[ros2_control_node-2] Please use 'set_on_monitoring_data_ex'
[ros2_control_node-2] Depreciated API.. deleted soon.
[ros2_control_node-2] Please use 'set_on_monitoring_ctrl_io_ex'.
[ros2_control_node-2] [INFO] [1737044571.498234141] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-2]
[ros2_control_node-2] [INFO] [1737044571.498275980] [dsr_hw_interface2]: OPEN CONNECTION
[ros2_control_node-2] [INFO] [1737044571.498283727] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-2]
[ros2_control_node-2] [INFO] [1737044571.498960850] [dsr_hw_interface2]: Real Robot Mode
[ros2_control_node-2] [INFO] [1737044571.498974488] [dsr_hw_interface2]: DRCF version = GF03020200
[ros2_control_node-2] [INFO] [1737044571.498985817] [dsr_hw_interface2]: DRFL version = GL013100
[ros2_control_node-2] [INFO] [1737044571.498991720] [dsr_hw_interface2]: m_nVersionDRCF = 3020200
[ros2_control_node-2] [INFO] [1737044571.498997373] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-2]
[ros2_control_node-2] [INFO] [1737044571.689094662] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-2]
[ros2_control_node-2] [INFO] [1737044571.689133736] [dsr_hw_interface2]: Access control granted
[ros2_control_node-2] [INFO] [1737044571.689140516] [dsr_hw_interface2]: _______________________________________________
[ros2_control_node-2]
[ros2_control_node-2] usClientPort : 56681
[ros2_control_node-2] [INFO] [1737044573.461145089] [dsr_hw_interface2]: [callback OnLogAlarm]
[ros2_control_node-2] [INFO] [1737044573.461173159] [dsr_hw_interface2]: level : 1
[ros2_control_node-2] [INFO] [1737044573.461180036] [dsr_hw_interface2]: group : 1
[ros2_control_node-2] [INFO] [1737044573.461185250] [dsr_hw_interface2]: index : 1037
[ros2_control_node-2] [INFO] [1737044573.461190640] [dsr_hw_interface2]: param :
[ros2_control_node-2] [INFO] [1737044573.461195748] [dsr_hw_interface2]: param :
[ros2_control_node-2] [INFO] [1737044573.461200772] [dsr_hw_interface2]: param :
[spawner-5] [WARN] [1737044573.763732195] [dsr01.spawner_joint_state_broadcaster]: Could not contact service /dsr01/controller_manager/list_controllers
[spawner-5] [INFO] [1737044573.764302125] [dsr01.spawner_joint_state_broadcaster]: waiting for service /dsr01/controller_manager/list_controllers to become available...
[spawner-4] [WARN] [1737044573.766772696] [dsr01.spawner_dsr_controller2]: Could not contact service /dsr01/controller_manager/list_controllers
[spawner-4] [INFO] [1737044573.767326025] [dsr01.spawner_dsr_controller2]: waiting for service /dsr01/controller_manager/list_controllers to become available...
[ros2_control_node-2] [WARN] [1737044578.567277267] [dsr_hw_interface2]: [callback OnLogAlarm]
[ros2_control_node-2] [WARN] [1737044578.567305660] [dsr_hw_interface2]: level : 2
[ros2_control_node-2] [WARN] [1737044578.567312580] [dsr_hw_interface2]: group : 1
[ros2_control_node-2] [WARN] [1737044578.567318035] [dsr_hw_interface2]: index : 3014
[ros2_control_node-2] [WARN] [1737044578.567323483] [dsr_hw_interface2]: param : A heartbeat packet was not received for 5 seconds
[ros2_control_node-2] [WARN] [1737044578.567328905] [dsr_hw_interface2]: param :
[ros2_control_node-2] [WARN] [1737044578.567334107] [dsr_hw_interface2]: param :
[spawner-5] [WARN] [1737044583.776659152] [dsr01.spawner_joint_state_broadcaster]: Could not contact service /dsr01/controller_manager/list_controllers
[spawner-5] [INFO] [1737044583.777208537] [dsr01.spawner_joint_state_broadcaster]: waiting for service /dsr01/controller_manager/list_controllers to become available...
[spawner-4] [WARN] [1737044583.779316439] [dsr01.spawner_dsr_controller2]: Could not contact service /dsr01/controller_manager/list_controllers
[spawner-4] [INFO] [1737044583.779857782] [dsr01.spawner_dsr_controller2]: waiting for service /dsr01/controller_manager/list_controllers to become available...
Dart platform 버전은 3.2.2이며 "$ colcon build --cmake-args -DDRCF_VER=3" 명령어를 사용하여 빌드하였습니다. 또한 ROS1 패키지 및 윈도우 기반의 Dart에서는 정상적으로 연결 및 동작이 되는 것을 확인하였습니다.
이슈 해결에 도움을 주시면 감사하겠습니다.
@song-ms
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song-ms commented Jan 19, 2025

안녕하세요 @hanprd 님,

문의 주신 내용을 파악하기위해 확인차 질문을 드립니다.
/{workspace}/src/doosan_robot2 경로에 git pull- r 으로 ros 코드가 최신 업데이트 되어있는지 확인 부탁드리며,
혹시 어떤 명령어를 사용하였을때 저런 현상이 발생하는지 알수 있을까요 ?

@hanprd
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hanprd commented Jan 20, 2025 via email

@song-ms song-ms mentioned this issue Jan 20, 2025
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@song-ms
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song-ms commented Jan 20, 2025

@hanprd 님

확인 감사합니다. 해당 내용을 확인하고 이슈부분 수정 완료 하였습니다.
수정된 소스 업데이트 후 재확인 부탁드립니다.

@hanprd
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hanprd commented Jan 20, 2025 via email

@song-ms song-ms mentioned this issue Jan 21, 2025
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@song-ms
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song-ms commented Jan 21, 2025

@hanprd 님, 안녕하세요

virtual 관련해서 첫 연결시 이슈 연결이 안되는 현상이 있어 해당 부분을 함께 수정했습니다.
다시한번 업데이트 후 확인 부탁드립니다.

감사합니다.

@hanprd
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hanprd commented Jan 21, 2025 via email

@leeminju531 leeminju531 mentioned this issue Jan 22, 2025
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@leeminju531
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@hanprd 님, 안녕하세요.

관련사항 업데이트 하였습니다. 최신 커밋으로 확인 부탁드립니다.

cc @song-ms

@hanprd
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hanprd commented Jan 22, 2025 via email

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@song-ms @doosan-robotics @leeminju531 @hanprd