Open Manipulator Fails BringUP

[gandradeng]

Hi everyone, I'm having this errors (exception) when trying to bringup the turtlebot3 with the open manipulator:
$ ros2 launch turtlebot3_manipulation_bringup hardware.launch.py
[INFO] [launch]: All log files can be found below /home/dali/.ros/log/2023-07-01-20-56-48-983432-dali-turtlebot-10821
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): executable
'[<launch.substitutions.text_substitution.TextSubstitution object at 0xffff8f854100>]' not found on the PATH

Data: Turtlebo3 with OpenManipulator X, Humble, Ubuntu 22.04, Raspberry Pi 4.

[yeongkyuyoon]

Hi, Could you try below command on 'turtlebot3_ws' using Terminal?

$ source install/setup.bash

[ozanaki]

I have the same issue too.
@yeongkyuyoon Sourcing the install/setup.bash did not fix the issue.

ROS2 Humble / Ubuntu 22.04 Server / Raspberry Pi 4 / Turtlebot3 Waffle Pi with Manipulator.

ubuntu@wafflepi:~/turtlebot3_ws$ source install/setup.bash
ubuntu@wafflepi:~/turtlebot3_ws$ ros2 launch turtlebot3_manipulation_bringup hardware.launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2023-07-13-16-58-41-633216-wafflepi-1236
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): executable '[<launch.substitutions.text_substitution.TextSubstitution object at 0xffffbafb6c50>]' not found on the PATH
ubuntu@wafflepi:~/turtlebot3_ws$

[yeongkyuyoon]

@ozanaki
Perhaps some dependency packages are not installed, resulting in errors when executing the launch file. I identified all the missing packages in the ROS2 Foxy version and conducted tests accordingly.

It is assumed that the Humble version also encounters a similar problem. Please install the following dependency packages from the Humble distro.

sudo apt install ros-foxy-hardware-interface
sudo apt install ros-foxy-xacro
sudo apt install ros-foxy-imu-sensor-broadcaster
sudo apt install ros-foxy-diff-drive-controller
sudo apt install ros-foxy-position-controllers
sudo apt install ros-foxy-gripper-controllers
sudo apt install ros-foxy-joint-state-broadcaster
sudo apt install ros-foxy-joint-trajectory-controller
sudo apt install ros-foxy-controller-manager

and run sudo apt-get update && sudo apt-get dist-upgrade.

[ozanaki]

@yeongkyuyoon
I have installed these packages for Humble as you suggested. This error message has disappeared, the manipulator has gone to the start position while bringing up.

sudo apt install ros-humble-hardware-interface
sudo apt install ros-humble-xacro
sudo apt install ros-humble-imu-sensor-broadcaster
sudo apt install ros-humble-diff-drive-controller
sudo apt install ros-humble-position-controllers
sudo apt install ros-humble-gripper-controllers
sudo apt install ros-humble-joint-state-broadcaster
sudo apt install ros-humble-joint-trajectory-controller
sudo apt install ros-humble-controller-manager

But this time some different error messages appeared on the terminal as
[ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!
and
[ros2_control_node-1] *** stack smashing detected ***: terminated
seems not related to this issue. I just proceed to another issue :)

Thank you for your help

[gandradeng]

I was able to solve the original issue but typing (at tb3) sudo apt install ros-humble-launch-*. But then another problem came through bring up:
[ros2_control_node-1] [ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!

[yeongkyuyoon]

@ozanaki @gandradeng
Hi, I guess it's a problem with OpenCR's firmware. What firmware are you using? Have you installed it according to the guidelines in the E-manual? Try the directions below, and let me know.

[TurtleBot3 SBC] Download the OpenCR firmware file on Raspberry Pi (SBC) and upload the correct firmware with the following commands.
$ export OPENCR_PORT=/dev/ttyACM0
$ export OPENCR_MODEL=turtlebot3_manipulation
$ rm -rf ./opencr_update.tar.bz2
$ wget https://github.com/ROBOTIS-GIT/OpenCR-Binaries/raw/master/turtlebot3/ROS2/latest/opencr_update.tar.bz2
$ tar -xvf opencr_update.tar.bz2
$ cd ./opencr_update
$ ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr

[gandradeng]

Hi, @yeongkyuyoon! I did exactly as in E-manual and until now the open manipulator is not working.

[ozanaki]

@yeongkyuyoon
I am exactly following the instructions in the manual including setting up the OpenCR. I installed the manipulation package on freshly installed ROS2 Humble on Ubuntu 22.04 on Raspberry Pi 4 (waffle pi with manipulator) described as in the manual https://emanual.robotis.com/docs/en/platform/turtlebot3/manipulation/#software-setup.

Here is the ssh terminal output screen after applying the bringup command
$ ros2 launch turtlebot3_manipulation_bringup hardware.launch.py:

[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2023-07-19-09-35-37-701805-wafflepi-1953
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [1956]
[INFO] [robot_state_publisher-2]: process started with pid [1958]
[INFO] [spawner-3]: process started with pid [1960]
[INFO] [ld08_driver-4]: process started with pid [1962]
[robot_state_publisher-2] [INFO] [1689748540.081126855] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-2] [INFO] [1689748540.084080957] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1689748540.086333806] [robot_state_publisher]: got segment base_scan
[robot_state_publisher-2] [INFO] [1689748540.088819302] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-2] [INFO] [1689748540.090887115] [robot_state_publisher]: got segment camera_rgb_frame
[robot_state_publisher-2] [INFO] [1689748540.092974003] [robot_state_publisher]: got segment camera_rgb_optical_frame
[robot_state_publisher-2] [INFO] [1689748540.093049058] [robot_state_publisher]: got segment caster_back_left_link
[robot_state_publisher-2] [INFO] [1689748540.093081150] [robot_state_publisher]: got segment caster_back_right_link
[robot_state_publisher-2] [INFO] [1689748540.093108428] [robot_state_publisher]: got segment end_effector_link
[robot_state_publisher-2] [INFO] [1689748540.093135131] [robot_state_publisher]: got segment gripper_left_link
[robot_state_publisher-2] [INFO] [1689748540.093160668] [robot_state_publisher]: got segment gripper_right_link
[robot_state_publisher-2] [INFO] [1689748540.093186483] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-2] [INFO] [1689748540.093211742] [robot_state_publisher]: got segment link1
[robot_state_publisher-2] [INFO] [1689748540.093237075] [robot_state_publisher]: got segment link2
[robot_state_publisher-2] [INFO] [1689748540.093261408] [robot_state_publisher]: got segment link3
[robot_state_publisher-2] [INFO] [1689748540.093287037] [robot_state_publisher]: got segment link4
[robot_state_publisher-2] [INFO] [1689748540.093311648] [robot_state_publisher]: got segment link5
[robot_state_publisher-2] [INFO] [1689748540.093335852] [robot_state_publisher]: got segment wheel_left_link
[robot_state_publisher-2] [INFO] [1689748540.093360444] [robot_state_publisher]: got segment wheel_right_link
[ros2_control_node-1] [INFO] [1689748540.103276592] [resource_manager]: Loading hardware 'TurtleBot3ManipulationSystem'
[ros2_control_node-1] [INFO] [1689748540.107125038] [resource_manager]: Initialize hardware 'TurtleBot3ManipulationSystem'
[ros2_control_node-1] [INFO] [1689748540.113484645] [turtlebot3_manipulation]: Succeeded to open port
[ros2_control_node-1] [INFO] [1689748540.121159295] [turtlebot3_manipulation]: Succeeded to set baudrate
[ros2_control_node-1] [INFO] [1689748540.150026914] [turtlebot3_manipulation]: OpenCR Model Number 20480
[ros2_control_node-1] [INFO] [1689748540.178978772] [turtlebot3_manipulation]: Connected manipulator
[ros2_control_node-1] [INFO] [1689748540.207992482] [turtlebot3_manipulation]: Connected wheels
[ros2_control_node-1] [INFO] [1689748540.208380904] [resource_manager]: Successful initialization of hardware 'TurtleBot3ManipulationSystem'
[ros2_control_node-1] [INFO] [1689748540.209037639] [resource_manager]: 'configure' hardware 'TurtleBot3ManipulationSystem'
[ros2_control_node-1] [INFO] [1689748540.209114601] [resource_manager]: Successful 'configure' of hardware 'TurtleBot3ManipulationSystem'
[ros2_control_node-1] [INFO] [1689748540.209157434] [resource_manager]: 'activate' hardware 'TurtleBot3ManipulationSystem'
[ros2_control_node-1] [INFO] [1689748540.209181397] [turtlebot3_manipulation]: Ready for start
[ros2_control_node-1] [INFO] [1689748540.236964525] [turtlebot3_manipulation]: Wait for IMU re-calibration
[ros2_control_node-1] [ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!
[ld08_driver-4] /dev/ttyUSB0 CP2102 USB to UART Bridge Controller
[ld08_driver-4] /dev/ttyACM0 OpenCR Virtual ComPort in FS Mode
[ld08_driver-4] FOUND LDS-02
[ld08_driver-4] LDS-02 started successfully
[ros2_control_node-1] [INFO] [1689748543.271573655] [turtlebot3_manipulation]: Joints and wheels torque ON
[ros2_control_node-1] [ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!
[ros2_control_node-1] [INFO] [1689748543.351609203] [turtlebot3_manipulation]: Set profile acceleration and velocity to joints
[ros2_control_node-1] [ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!
[ros2_control_node-1] [ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!
[ros2_control_node-1] [INFO] [1689748543.422589409] [turtlebot3_manipulation]: Set profile acceleration and velocity to gripper
[ros2_control_node-1] [ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!
[ros2_control_node-1] [ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!
[ros2_control_node-1] [INFO] [1689748543.493650207] [turtlebot3_manipulation]: Set goal current value to gripper
[ros2_control_node-1] [ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!
[ros2_control_node-1] [INFO] [1689748543.528636065] [turtlebot3_manipulation]: System starting
[ros2_control_node-1] [INFO] [1689748543.530428400] [resource_manager]: Successful 'activate' of hardware 'TurtleBot3ManipulationSystem'
[ros2_control_node-1] [INFO] [1689748543.550493230] [controller_manager]: update rate is 100 Hz
[ros2_control_node-1] [INFO] [1689748543.552310232] [controller_manager]: RT kernel is recommended for better performance
[ros2_control_node-1] [INFO] [1689748543.552507008] [turtlebot3_manipulation]: Start to read wheels and manipulator states
[ros2_control_node-1] [INFO] [1689748543.566558895] [turtlebot3_manipulation]: Start to write wheels and manipulator commands
[ros2_control_node-1] [ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!
[ros2_control_node-1] [INFO] [1689748543.604358856] [controller_manager]: Loading controller 'joint_state_broadcaster'
[ros2_control_node-1] [ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!
[ros2_control_node-1] [ERROR] [1689748543.638808497] [turtlebot3_manipulation]: Can't control joints
[ros2_control_node-1] [ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!
[ros2_control_node-1] [ERROR] [1689748543.674483737] [turtlebot3_manipulation]: Can't control gripper
[spawner-3] [INFO] [1689748543.713645593] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-1] [INFO] [1689748543.717025005] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1689748543.717379613] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ros2_control_node-1] [ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!
[ros2_control_node-1] [ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!
[ros2_control_node-1] *** stack smashing detected ***: terminated
[ERROR] [ros2_control_node-1]: process has died [pid 1956, exit code -11, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_5fpdjqzo --params-file /home/ubuntu/turtlebot3_ws/install/turtlebot3_manipulation_bringup/share/turtlebot3_manipulation_bringup/config/hardware_controller_manager.yaml -r ~/cmd_vel_unstamped:=cmd_vel -r ~/odom:=odom'].

[JanG175]

Hi, I've got the same problem as @ozanaki. Did anybody manage to solve it? I suppose it is something connected with OpenCR software.

[AugensteinT]

Hi, I've got the same problem as @ozanaki. Did anybody manage to solve it?

[krizchong]

I am also getting the same problem as @ozanaki , fail to bring up TB3 with Openmanipuator-X in ROS 2 Humble, getting error “[ros2_control_node-1] [ERROR] [DynamixelSDKWrapper] [TxRxResult] There is no status packet!”...

Any solution?