# Firmware Mismatch Error after upgrading my RE1 to ubuntu 20.04 **URL:** \ **Category:** Ask\ **Created:** [April 9, 2024, 5:34pm UTC](https://forum.hello-robot.com/t/firmware-mismatch-error-after-upgrading-my-re1-to-ubuntu-20-04/952 "2024-04-09T17:34:54Z")\ **Posts on this page:** 8\ **Page:** 1
**Author:** ![argen1s](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/argen1s/32/207_2.png) [@argen1s](https://forum.hello-robot.com/u/argen1s)\ **Post date:** [April 9, 2024, 5:34pm UTC](https://forum.hello-robot.com/t/firmware-mismatch-error-after-upgrading-my-re1-to-ubuntu-20-04/952/1 "2024-04-09T17:34:54Z")
Hi all, we updated the OS of our Stretch RE1 to Ubuntu 20.04 and now are facing an issue with the hello-motor-lift that it seems is unable to communicate with the OS. We tried several procedures and tools mentioned in the forum but none of them solved it. Here is a list of what we tried: 1. Running the `REx_firmware_updater.py --install`. 2. Running the `REx_firmware_flash.py` 3. Verified the` udev rules` and the serial number. The output we got from running `REx_firmware_updater.py --install`: ```auto [WARNING] [hello-motor-lift]: --------------- Firmware protocol mismatch on hello-motor-lift. Protocol on board is p5. Valid protocols are: dict_keys(['p0', 'p1', 'p2']). Disabling device. Please upgrade the firmware and/or version of Stretch Body. ---------------- Unable to communicate with device hello-motor-lift WARNING: Device hello-motor-lift is not valid. Unable to attempt the firmware update. Skipping device ``` ---
**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\ **Post date:** [April 9, 2024, 5:49pm UTC](https://forum.hello-robot.com/t/firmware-mismatch-error-after-upgrading-my-re1-to-ubuntu-20-04/952/2 "2024-04-09T17:49:56Z")
Hi @argen1s, looks like you’re running into the opposite issue; your firmware is more up-to-date than your SDK is. Would you run the following command `stretch_system_check.py` and report its output here? ---
**Author:** ![argen1s](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/argen1s/32/207_2.png) [@argen1s](https://forum.hello-robot.com/u/argen1s)\ **Post date:** [April 9, 2024, 6:13pm UTC](https://forum.hello-robot.com/t/firmware-mismatch-error-after-upgrading-my-re1-to-ubuntu-20-04/952/3 "2024-04-09T18:13:16Z")
Hey @bshah, thanks for the quick response. I know right, it seems that at some point the firmware got update to a newer version. When I try to run the `stretch_system_check.py` I got `command not found`. However I can run `stretch_robot_system_check.py `. Here is its output in case you need it: ```auto [WARNING] [hello-motor-lift]: ---------------- Firmware protocol mismatch on hello-motor-lift. Protocol on board is p5. Valid protocols are: dict_keys(['p0', 'p1', 'p2']). Disabling device. Please upgrade the firmware and/or version of Stretch Body. ---------------- [WARNING] [stretch_gripper]: DynamixelHelloXL430 Ping failed... stretch_gripper DynamixelHelloXL430 Ping failed... stretch_gripper ---- Checking Devices ---- [Pass] : hello-wacc [Pass] : hello-motor-left-wheel [Pass] : hello-pimu [Pass] : hello-lrf [Pass] : hello-dynamixel-head [Pass] : hello-dynamixel-wrist [Pass] : hello-motor-arm [Pass] : hello-motor-right-wheel [Pass] : hello-motor-lift [Pass] : hello-respeaker ---- Checking Pimu ---- [Pass] Voltage = 13.041690587997437 [Pass] Current = 1.7860200913513409 [Pass] Temperature = 23.93553226422041 [Pass] Cliff-0 = 30.01885986328125 [Pass] Cliff-1 = 35.606689453125 [Warn] Cliff-2 = -124.20953369140625 out of range -50 to 60 - calibrate using REx_cliff_sensor_calibrate.py [Warn] Cliff-3 = -93.04324340820312 out of range -50 to 60 - calibrate using REx_cliff_sensor_calibrate.py [Pass] IMU AZ = -9.73032283782959 [Pass] IMU Pitch = -1.2088491916656494 [Pass] IMU Roll = 1.8359375 ---- Checking EndOfArm ---- [Fail] Ping of: stretch_gripper [Fail] Ping of: wrist_pitch [Fail] Ping of: wrist_roll [Pass] Ping of: wrist_yaw [Fail] Not Calibrated: wrist_yaw ---- Checking Head ---- [Pass] Ping of: head_pan [Pass] Ping of: head_tilt ---- Checking Wacc ---- [Pass] AX = 9.65605640411377 ---- Checking hello-motor-left-wheel ---- [Pass] Position = -0.8890706896781921 ---- Checking hello-motor-right-wheel ---- [Pass] Position = -2.8143434524536133 ---- Checking hello-motor-arm ---- [Pass] Position = 2.7623326778411865 [Fail] Position Calibrated = False ---- Checking hello-motor-lift ---- [Fail] Position = 0 [Pass] Position Calibrated = 0 ``` ---
**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\ **Post date:** [April 9, 2024, 6:56pm UTC](https://forum.hello-robot.com/t/firmware-mismatch-error-after-upgrading-my-re1-to-ubuntu-20-04/952/4 "2024-04-09T18:56:33Z")
Gotcha, it certainly looks like we should update the SDK. Would you run through this guide: > **[Updating Software - Stretch Docs](https://docs.hello-robot.com/0.3/software/updating_software/#python-libraries)** > > Hello Robot User Documentation In particular, you’re interested in the Python Libraries section. After you’ve updated “hello-robot-stretch-body-tools”, you’ll see the `stretch_robot_system_check.py` CLI has been replaced by `stretch_system_check.py`. Also, I’m noticing that there’s `[Fail] Ping of: wrist_` in your sys check output. Would you send me a picture of your robot? I think the software is confused about which tool is attached to your robot. ---
**Author:** ![argen1s](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/argen1s/32/207_2.png) [@argen1s](https://forum.hello-robot.com/u/argen1s)\ **Post date:** [April 9, 2024, 9:05pm UTC](https://forum.hello-robot.com/t/firmware-mismatch-error-after-upgrading-my-re1-to-ubuntu-20-04/952/5 "2024-04-09T21:05:39Z")
Magnificent! Updating the SDK and running the `REx_firmware_updater.py --install` now worked. Here is the output for the command: `REx_firmware_updater.py --current` ```auto REx_firmware_updater.py --current ----------- Deprecation Warning ----------- Your robot params are configured to load DexWrist2 params from Stretch Tool Share Support for the DexWrist2 has moved to Stretch Body 1) Open stretch_user_params.yaml and stretch_configuration_params.yaml in the ~/stretch_user/stretch-yyy-xxxx directory. 2) Locate the following text in one of those files and remove it: params: stretch_tool_share.stretch_dex_wrist.params or params: - stretch_tool_share.stretch_dex_wrist.params More information can be found at: https://github.com/hello-robot/stretch_body/pull/272 ------------------------------------------- Collecting information... ######################################## Currently Installed Firmware ######################################## ------------ HELLO-MOTOR-LIFT ------------ Installed Firmware: Stepper.v0.7.4p5 Installed Stretch Body supports protocols: p0 , p1 , p2 , p3 , p4 , p5 Installed protocol p5 : VALID ------------ HELLO-MOTOR-ARM ------------ Installed Firmware: Stepper.v0.7.4p5 Installed Stretch Body supports protocols: p0 , p1 , p2 , p3 , p4 , p5 Installed protocol p5 : VALID ------------ HELLO-MOTOR-LEFT-WHEEL ------------ Installed Firmware: Stepper.v0.7.4p5 Installed Stretch Body supports protocols: p0 , p1 , p2 , p3 , p4 , p5 Installed protocol p5 : VALID ------------ HELLO-MOTOR-RIGHT-WHEEL ------------ Installed Firmware: Stepper.v0.7.4p5 Installed Stretch Body supports protocols: p0 , p1 , p2 , p3 , p4 , p5 Installed protocol p5 : VALID ------------ HELLO-PIMU ------------ Installed Firmware: Pimu.v0.7.0p5 Installed Stretch Body supports protocols: p0 , p1 , p2 , p3 , p4 , p5 Installed protocol p5 : VALID ------------ HELLO-WACC ------------ Installed Firmware: Wacc.v0.5.1p3 Installed Stretch Body supports protocols: p0 , p1 , p2 , p3 Installed protocol p3 : VALID ``` Here is the new output for the `stretch_system_check.py` command ```auto [ERROR] [stretch_gripper]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to 57600. [WARNING] [stretch_gripper]: DynamixelHelloXL430 Ping failed... stretch_gripper DynamixelHelloXL430 Ping failed... stretch_gripper Dnamixel Com error: ---- Checking Hardware ---- [Fail] Comms not ready (failed to ping stretch_gripper) [Fail] Actuators not ready (robot not homed, run stretch_robot_home.py) [Pass] Sensors are ready [Pass] Battery voltage is 13.0 V ---- Checking Software ---- [Pass] Ubuntu 20.04 is ready [Pass] All APT pkgs are setup correctly [Pass] Firmware is up-to-date [Warn] Python pkgs not up-to-date (run pip3 install -U hello-robot-stretch-factory) [Pass] ROS Noetic is ready ``` Lastly, attached here are some pictures of the robot. ![20240409_164859](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/1X/36bf72a642d52836bd304dd2318ae3b54d0061fc.jpeg) ![20240409_170316](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/1X/450e8e1b6148ca282ec6c2664fd0053697deff9d.jpeg) ---
**Author:** ![argen1s](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/argen1s/32/207_2.png) [@argen1s](https://forum.hello-robot.com/u/argen1s)\ **Post date:** [April 10, 2024, 1:15pm UTC](https://forum.hello-robot.com/t/firmware-mismatch-error-after-upgrading-my-re1-to-ubuntu-20-04/952/6 "2024-04-10T13:15:46Z")
It seems we are having the same issue as in this post:` https://forum.hello-robot.com/t/dynamixelhelloxl430-ping-failed-wrist-pitch/914`. So I will be following the procedure you recommended there and let you know about the results later on. Thanks for all your help! ---
**Author:** ![argen1s](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/argen1s/32/207_2.png) [@argen1s](https://forum.hello-robot.com/u/argen1s)\ **Post date:** [April 12, 2024, 6:50pm UTC](https://forum.hello-robot.com/t/firmware-mismatch-error-after-upgrading-my-re1-to-ubuntu-20-04/952/7 "2024-04-12T18:50:47Z")
@bshah I just wanted to thank you again for the help and inform you that I already solved the issue with the wrist tool using the topic post I attached to my previous response. ---
**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\ **Post date:** [April 12, 2024, 6:52pm UTC](https://forum.hello-robot.com/t/firmware-mismatch-error-after-upgrading-my-re1-to-ubuntu-20-04/952/8 "2024-04-12T18:52:49Z")
Awesome, glad to hear it @argen1s! All the best with your development on Stretch!