Robot entered standby mode (top white button blinking) during teleoperation through web interface

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1

Hello everyone,

I am using the web interface to teleoperate stretch and in one occasion the gripper was perhaps in a “too much torque” situation and the stretch beeped and the white button at the top started blinking. After I solved the gripper position and pressed the button to resume, it started beeping and going into the same standby mode.
I was able to capture the lines where the error messages showed in the roslaunch terminal (no messages were shown in the ./start_dev…sh)
I am mostly worried the robot will continue to enter this standby mode constantly and render teleoperation useless.

First error with wrist out of bound and then different red error command:

[INFO] [1601001090.871545]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘joint_wrist_yaw’]
[INFO] [1601001092.200746]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘joint_wrist_yaw’]
[ERROR] [1601001102.231066]: /stretch_driver joint_traj action: Time to execute the current goal point = <positions: [0.33541267295626737]
velocities:
accelerations:
effort:
time_from_start:
secs: 0
nsecs: 0> exceeded the default_goal_timeout = 10.0
[INFO] [1601001103.399651]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘joint_gripper_finger_left’]
[INFO] [1601001103.450064]: /stretch_driver joint_traj action: Achieved all target points.
[INFO] [1601001104.669970]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘joint_gripper_finger_left’]
[INFO] [1601001104.722490]: /stretch_driver joint_traj action: Achieved all target points.
[INFO] [1601001105.926305]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘joint_gripper_finger_left’]
[INFO] [1601001105.970740]: /stretch_driver joint_traj action: Achieved all target points.
[INFO] [1601001107.283337]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘joint_gripper_finger_left’]
[INFO] [1601001107.348502]: /stretch_driver joint_traj action: Achieved all target points.
[INFO] [1601001125.891371]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘joint_gripper_finger_left’]
[INFO] [1601001125.930915]: /stretch_driver joint_traj action: Achieved all target points.
[INFO] [1601001132.043198]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘joint_lift’]
[INFO] [1601001132.053241]: /stretch_driver joint_traj action: Achieved all target points.
[INFO] [1601001133.622614]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘joint_lift’]
[INFO] [1601001133.648866]: /stretch_driver joint_traj action: Achieved all target points.
[INFO] [1601001135.056119]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘joint_lift’]
[INFO] [1601001135.077573]: /stretch_driver joint_traj action: Achieved all target points.
[INFO] [1601001137.015634]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘wrist_extension’]
[INFO] [1601001137.423375]: /stretch_driver joint_traj action: Achieved all target points.
[INFO] [1601001138.226868]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘wrist_extension’]
[INFO] [1601001138.507092]: /stretch_driver joint_traj action: Achieved all target points.
[INFO] [1601001139.711288]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘wrist_extension’]
[INFO] [1601001140.062801]: /stretch_driver joint_traj action: Achieved all target points.
[INFO] [1601001141.082007]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘wrist_extension’]
[INFO] [1601001141.358461]: /stretch_driver joint_traj action: Achieved all target points.
[INFO] [1601001142.478732]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘wrist_extension’]
[INFO] [1601001142.770825]: /stretch_driver joint_traj action: Achieved all target points.
[INFO] [1601001143.974821]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘wrist_extension’]
[INFO] [1601001144.248874]: /stretch_driver joint_traj action: Achieved all target points.
[INFO] [1601001147.156007]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘wrist_extension’]
[INFO] [1601001148.043738]: /stretch_driver joint_traj action: Achieved all target points.
[INFO] [1601001148.948169]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘wrist_extension’]
[INFO] [1601001149.834110]: /stretch_driver joint_traj action: Achieved all target points.
[INFO] [1601001154.543833]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘joint_head_tilt’]
[INFO] [1601001154.565568]: /stretch_driver joint_traj action: Achieved all target points.
[INFO] [1601001155.801950]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘joint_head_tilt’]
24/09 19:32:35,816 WARNING [140670916359936] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[INFO] [1601001155.833614]: /stretch_driver joint_traj action: Achieved all target points.
[INFO] [1601001156.401060]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘joint_head_tilt’]
[INFO] [1601001156.426969]: /stretch_driver joint_traj action: Achieved all target points.
[INFO] [1601001156.761719]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘joint_head_tilt’]
[INFO] [1601001156.791183]: /stretch_driver joint_traj action: Achieved all target points.
[INFO] [1601001157.109335]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘joint_head_tilt’]
[INFO] [1601001157.140600]: /stretch_driver joint_traj action: Achieved all target points.
[INFO] [1601001158.652656]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘joint_head_tilt’]
[INFO] [1601001158.685071]: /stretch_driver joint_traj action: Achieved all target points.
24/09 19:32:38,937 WARNING [140670916359936] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
24/09 19:32:38,998 WARNING [140670916359936] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[INFO] [1601001159.495610]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘joint_head_tilt’]
[INFO] [1601001159.537128]: /stretch_driver joint_traj action: Achieved all target points.
[INFO] [1601001160.341898]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘joint_head_tilt’]
[INFO] [1601001160.366933]: /stretch_driver joint_traj action: Achieved all target points.
[INFO] [1601001161.185628]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘joint_head_tilt’]
[INFO] [1601001161.210043]: /stretch_driver joint_traj action: Achieved all target points.
24/09 19:32:42,119 WARNING [140670916359936] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
24/09 19:32:42,179 WARNING [140670916359936] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11

Second error while moving the wrist inwards (no contact with other objects) after doing home.py and relaunching everything

[INFO] [1601001945.878527]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘wrist_extension’]
24/09 19:45:55,374 WARNING [140159096362752] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
24/09 19:45:55,434 WARNING [140159096362752] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
[ERROR] [1601001955.892164]: /stretch_driver joint_traj action: Time to execute the current goal point = <positions: [0.35411564390053646]
velocities:
accelerations:
effort:
time_from_start:
secs: 0
nsecs: 0> exceeded the default_goal_timeout = 10.0
24/09 19:45:57,535 WARNING [140159096362752] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
24/09 19:45:57,596 WARNING [140159096362752] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
Second time around the robot was not in contact with anything the wrist had been moved inwards:
[INFO] [1601002497.486272]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘rotate_mobile_base’]
[INFO] [1601002505.549210]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘rotate_mobile_base’]
[INFO] [1601002508.139849]: /stretch_driver joint_traj action: New trajectory received with joint_names = [‘rotate_mobile_base’]
[ERROR] [1601002518.150217]: /stretch_driver joint_traj action: Time to execute the current goal point = <positions: [0.2]
velocities:
accelerations:
effort:
time_from_start:
secs: 0
nsecs: 0> exceeded the default_goal_timeout = 10.0
24/09 19:55:55,196 WARNING [140190974084864] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
24/09 19:55:55,256 WARNING [140190974084864] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11
24/09 19:55:55,316 WARNING [140190974084864] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11

2

Hi, it could be that your Stretch battery voltage is low, or some other fault is being triggered, that is causing your runstop to trigger (which makes the illuminated button flash).

What is the result of running stretch_robot_battery_check.py with the charger unplugged?

Also, if you check stretch_re1_factory_params.yaml under ~/stretch_user, what is the value of stop_at_low_voltage? If it is 1, try setting it temporarily to 0 and see if the behavior goes away.

3

Thank you for your answer! It definitely could have been a battery issue because after I kept it charging for a while and tried to recreate I could not.

The robot has been charging for some time so the result of battery_check right now would not help. I also check the .yaml file and the flag was set to 1.

Thank you for your help!!