Hi,
I am trying to get stretch_ai to work on Stretch, but I am encountering an error when running the following command on the robot:
./scripts/run_stretch_ai_ros2_bridge_server.sh
Here is the error message for reference:
[stretch_driver-5] [INFO] [1743006730.828510300] [stretch_driver]: Changed to mode = position
[server-12] [INFO] [1743006730.849850766] [ros2_zmq_server]: Now in position mode.
[server-12] Exception in thread Thread-3 (spin_recv):
[server-12] Traceback (most recent call last):
[server-12] File “/usr/lib/python3.10/threading.py”, line 1016, in _bootstrap_inner
[server-12] self.run()
[server-12] File “/usr/lib/python3.10/threading.py”, line 953, in run
[server-12] self._target(*self._args, **self._kwargs)
[server-12] File “/home/hello-robot/stretch_ai/src/stretch/core/server.py”, line 222, in spin_recv
[server-12] self.handle_action(action)
[server-12] File “/home/hello-robot/ament_ws/install/stretch_ros2_bridge/lib/python3.10/site-packages/stretch_ros2_bridge/remote/server.py”, line 132, in handle_action
[server-12] self.client.move_to_manip_posture()
[server-12] File “/home/hello-robot/ament_ws/install/stretch_ros2_bridge/lib/python3.10/site-packages/stretch_ros2_bridge/remote/api.py”, line 248, in move_to_manip_posture
[server-12] self.manip.goto_joint_positions(pos, head_pan=pan, head_tilt=tilt, blocking=True)
[server-12] File “/home/hello-robot/ament_ws/install/stretch_ros2_bridge/lib/python3.10/site-packages/stretch_ros2_bridge/remote/modules/abstract.py”, line 27, in wrapper
[server-12] return func(self, *args, **kwargs)
[server-12] File “/home/hello-robot/ament_ws/install/stretch_ros2_bridge/lib/python3.10/site-packages/stretch_ros2_bridge/remote/modules/manip.py”, line 205, in goto_joint_positions
[server-12] self._ros_client.send_joint_goals(joint_goals, velocities=velocities)
[server-12] File “/home/hello-robot/ament_ws/install/stretch_ros2_bridge/lib/python3.10/site-packages/stretch_ros2_bridge/remote/ros.py”, line 256, in send_joint_goals
[server-12] joint_pose = self._process_joint_status(self.joint_status)
[server-12] File “/home/hello-robot/ament_ws/install/stretch_ros2_bridge/lib/python3.10/site-packages/stretch_ros2_bridge/remote/ros.py”, line 220, in _process_joint_status
[server-12] pose[self.Idx.GRIPPER] = j_status[ROS_GRIPPER_FINGER]
[server-12] KeyError: ‘joint_gripper_finger_left’
Any suggestions on how to resolve this?
stretch_system_check passes for all the hardware, so I’m unsure whether this is a hardware or software issue.
Thanks!