[Question]: Problem with ROS Standard Software Setup

[abdullah594]

Question

Hello,

I just got my PX-100 and I'm trying to do the ROS Standard Software Setup for my PX-100 robotic arm. I ran all the lines of codes in the guideline provided in the link below:
https://docs.trossenrobotics.com/interbotix_xsarms_docs/ros_interface/ros1/software_setup.html#remote-install

However, when I reached the "[Installation Checks]" part of the guideline, I had aproblem:

When I try to do the [Interbotix ROS Packages] installation checker by typing the following:

$ source /opt/ros/noetic/setup.bash
$ source ~/interbotix_ws/devel/setup.bash
$ rospack list | grep interbotix

I got all packages the needed to be installed as follow:

dynamixel_workbench_toolbox /home/ssoe/interbotix_ws/src/interbotix_ros_core/interbotix_ros_xseries/dynamixel_workbench_toolbox
interbotix_common_modules /home/ssoe/interbotix_ws/src/interbotix_ros_toolboxes/interbotix_common_toolbox/interbotix_common_modules
interbotix_landmark_modules /home/ssoe/interbotix_ws/src/interbotix_ros_toolboxes/interbotix_common_toolbox/interbotix_landmark_modules
interbotix_moveit_interface /home/ssoe/interbotix_ws/src/interbotix_ros_toolboxes/interbotix_common_toolbox/interbotix_moveit_interface
interbotix_perception_modules /home/ssoe/interbotix_ws/src/interbotix_ros_toolboxes/interbotix_perception_toolbox/interbotix_perception_modules
interbotix_tf_tools /home/ssoe/interbotix_ws/src/interbotix_ros_toolboxes/interbotix_common_toolbox/interbotix_tf_tools
interbotix_xs_modules /home/ssoe/interbotix_ws/src/interbotix_ros_toolboxes/interbotix_xs_toolbox/interbotix_xs_modules
interbotix_xs_msgs /home/ssoe/interbotix_ws/src/interbotix_ros_core/interbotix_ros_xseries/interbotix_xs_msgs
interbotix_xs_ros_control /home/ssoe/interbotix_ws/src/interbotix_ros_toolboxes/interbotix_xs_toolbox/interbotix_xs_ros_control
interbotix_xs_rviz /home/ssoe/interbotix_ws/src/interbotix_ros_toolboxes/interbotix_xs_toolbox/interbotix_xs_rviz
interbotix_xs_sdk /home/ssoe/interbotix_ws/src/interbotix_ros_core/interbotix_ros_xseries/interbotix_xs_sdk
interbotix_xsarm_control /home/ssoe/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_control
interbotix_xsarm_descriptions /home/ssoe/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_descriptions
interbotix_xsarm_diagnostic_tool /home/ssoe/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/examples/interbotix_xsarm_diagnostic_tool
interbotix_xsarm_dual /home/ssoe/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/examples/interbotix_xsarm_dual
interbotix_xsarm_dual_joy /home/ssoe/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/examples/interbotix_xsarm_dual_joy
interbotix_xsarm_gazebo /home/ssoe/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_gazebo
interbotix_xsarm_joy /home/ssoe/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/examples/interbotix_xsarm_joy
interbotix_xsarm_moveit /home/ssoe/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_moveit
interbotix_xsarm_moveit_interface /home/ssoe/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/examples/interbotix_xsarm_moveit_interface
interbotix_xsarm_perception /home/ssoe/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_perception
interbotix_xsarm_pid /home/ssoe/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/examples/interbotix_xsarm_pid
interbotix_xsarm_puppet /home/ssoe/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/examples/interbotix_xsarm_puppet
interbotix_xsarm_ros_control /home/ssoe/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_ros_control

Now I run the following command to run RViz visualization:

$ roslaunch interbotix_xsarm_descriptions xsarm_description.launch robot_model:=pax100use_joint_pub_gui:=true

Everything work great until this moment. Now, when I try to connect the physical robot arm using the following command

$ roslaunch interbotix_xsarm_control xsarm_control.launch robot_model:=pax100

I got the following:

... logging to /home/ssoe/.ros/log/c7644d24-c074-11ef-aab2-61b1fad1ba8d/roslaunch-ubuntu-20-4657.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://10.0.2.15:33085/

SUMMARY
========

PARAMETERS
 * /px100/robot_description: <?xml version="1....
 * /px100/xs_sdk/load_configs: True
 * /px100/xs_sdk/mode_configs: /home/ssoe/interb...
 * /px100/xs_sdk/motor_configs: /home/ssoe/interb...
 * /rosdistro: noetic
 * /rosversion: 1.17.0

NODES
  /px100/
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz (rviz/rviz)
    xs_sdk (interbotix_xs_sdk/xs_sdk)

ROS_MASTER_URI=http://ubuntu-20.local:11311

process[px100/robot_state_publisher-1]: started with pid [4673]
process[px100/rviz-2]: started with pid [4674]
process[px100/xs_sdk-3]: started with pid [4675]
[ INFO] [1734880543.268347903]: [xs_sdk] Loaded mode configs from '/home/ssoe/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_control/config/modes.yaml'.
[ INFO] [1734880543.273642086]: [xs_sdk] Loaded motor configs from '/home/ssoe/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_control/config/px100.yaml'.
[ WARN] [1734880543.274478156]: Shutdown request received.
[ WARN] [1734880543.309236350]: Reason given for shutdown: [[/px100/robot_state_publisher] Reason: new node registered with same name]
[ INFO] [1734880543.312704048]: [xs_sdk] Pinging all motors specified in the motor_config file. (Attempt 1/3)
[ INFO] [1734880543.352113922]: [xs_sdk]	Found DYNAMIXEL ID:  4, Model: 'XL430-W250', Joint Name: 'wrist_angle'.
[ INFO] [1734880543.414657170]: [xs_sdk]	Found DYNAMIXEL ID:  3, Model: 'XL430-W250', Joint Name: 'elbow'.
[px100/robot_state_publisher-1] process has finished cleanly
log file: /home/ssoe/.ros/log/c7644d24-c074-11ef-aab2-61b1fad1ba8d/px100-robot_state_publisher-1*.log
[ INFO] [1734880543.511866155]: [xs_sdk]	Found DYNAMIXEL ID:  2, Model: 'XL430-W250', Joint Name: 'shoulder'.
[ INFO] [1734880543.576960434]: [xs_sdk]	Found DYNAMIXEL ID:  5, Model: 'XL430-W250', Joint Name: 'gripper'.
[ INFO] [1734880543.633771342]: [xs_sdk]	Found DYNAMIXEL ID:  1, Model: 'XL430-W250', Joint Name: 'waist'.
[ INFO] [1734880543.648257344]: [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] [1734880544.189021861]: [xs_sdk] Could not get 'Goal_Current' Item Info. This message can be ignored if none of the robot's motors support current control.
[ INFO] [1734880544.189149446]: [xs_sdk] SyncWriteHandler for Goal_Current not added as it's not supported.
[ INFO] [1734880544.563346824]: [xs_sdk] The operating mode for the 'arm' group was changed to position.
[ INFO] [1734880544.603813006]: [xs_sdk] The operating mode for the 'gripper' joint was changed to pwm.
[ INFO] [1734880544.821982095]: [xs_sdk] Interbotix 'xs_sdk' node is up!
[ERROR] [1734880545.057303145]: [xs_sdk] Failed syncRead: [TxRxResult] Incorrect status packet!
[ERROR] [1734880545.058282441]: [xs_sdk] Failed getSyncReadData for Present_Current: groupSyncRead getdata failed
[ERROR] [1734880545.058381527]: [xs_sdk] Failed getSyncReadData for Present_Velocity: groupSyncRead getdata failed
[ERROR] [1734880545.058396597]: [xs_sdk] Failed getSyncReadData for Present_Position: groupSyncRead getdata failed
[ERROR] [1734880545.248655642]: [xs_sdk] Failed syncRead: [TxRxResult] Incorrect status packet!
[ERROR] [1734880545.248833318]: [xs_sdk] Failed getSyncReadData for Present_Current: groupSyncRead getdata failed
[ERROR] [1734880545.248915340]: [xs_sdk] Failed getSyncReadData for Present_Velocity: groupSyncRead getdata failed
[ERROR] [1734880545.248928923]: [xs_sdk] Failed getSyncReadData for Present_Position: groupSyncRead getdata failed
[ERROR] [1734880545.325523966]: [xs_sdk] Failed syncRead: [TxRxResult] Incorrect status packet!
[ERROR] [1734880545.325689309]: [xs_sdk] Failed getSyncReadData for Present_Current: groupSyncRead getdata failed
[ERROR] [1734880545.325706896]: [xs_sdk] Failed getSyncReadData for Present_Velocity: groupSyncRead getdata failed
[ERROR] [1734880545.325783300]: [xs_sdk] Failed getSyncReadData for Present_Position: groupSyncRead getdata failed
[ERROR] [1734880545.402070474]: [xs_sdk] Failed syncRead: [TxRxResult] Incorrect status packet!
[ERROR] [1734880545.402147086]: [xs_sdk] Failed getSyncReadData for Present_Current: groupSyncRead getdata failed
[ERROR] [1734880545.402153985]: [xs_sdk] Failed getSyncReadData for Present_Velocity: groupSyncRead getdata failed
[ERROR] [1734880545.402158733]: [xs_sdk] Failed getSyncReadData for Present_Position: groupSyncRead getdata failed
[ERROR] [1734880545.553967766]: [xs_sdk] Failed syncRead: [TxRxResult] Incorrect status packet!

At the same time the following WARN messages appeared in the RViz terminal window which were not there before trying to connect the physical robot:

[ WARN] [1734881768.784773200]: Shutdown request received.
[ WARN] [1734881768.814792920]: Reason given for shutdown: [[/px100/robot_state_publisher] Reason: new node registered with same name]
[WARN] [1734881769.146647]: Inbound TCP/IP connection failed: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details.
[px100/robot_state_publisher-2] process has finished cleanly
log file: /home/ssoe/.ros/log/c7644d24-c074-11ef-aab2-61b1fad1ba8d/px100-robot_state_publisher-2*.log
[ WARN] [1734881769.324221853]: Shutdown request received.
[ WARN] [1734881769.324321034]: Reason given for shutdown: [[/px100/rviz] Reason: new node registered with same name]
[px100/rviz-3] process has finished cleanly
log file: /home/ssoe/.ros/log/c7644d24-c074-11ef-aab2-61b1fad1ba8d/px100-rviz-3*.log

Any idea why I'm having a problem connecting the physical robot to the computer. I should be able to connect it and be able to freely manipulate the arm and gripper while RViz model accurately mimics the real robot. It seems that the RViz isn't getting the necessary information from the robot.

Would you please help me fix this problem.

Thanks

Robot Model

px100

Operating System

Ubuntu 20.04

ROS Version

ROS 1 Noetic

Additional Info

No response

[lukeschmitt-tr]

[ WARN] [1734881768.784773200]: Shutdown request received.
[ WARN] [1734881768.814792920]: Reason given for shutdown: [[/px100/robot_state_publisher] Reason: new node registered with same name]

These warnings indicate that you are running multiple roslaunch sessions that run the same nodes without first terminating old sessions. Please shut down old roslaunch session before starting new ones.

[ERROR] [1734880545.057303145]: [xs_sdk] Failed syncRead: [TxRxResult] Incorrect status packet!
[ERROR] [1734880545.058282441]: [xs_sdk] Failed getSyncReadData for Present_Current: groupSyncRead getdata failed
[ERROR] [1734880545.058381527]: [xs_sdk] Failed getSyncReadData for Present_Velocity: groupSyncRead getdata failed
[ERROR] [1734880545.058396597]: [xs_sdk] Failed getSyncReadData for Present_Position: groupSyncRead getdata failed

Please see the troubleshooting steps mentioned here: https://docs.trossenrobotics.com/interbotix_xsarms_docs/troubleshooting.html#incorrect-status-packet

Please also check that your arm is powered with the provided 12V power supply.