System check fails

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1

Hi,

My robot used to work well. However, to make sure its configuration is using dex wrist, I followed some setups here: stretch_factory/updates/001_ROS_INSTALL at master · hello-robot/stretch_factory · GitHub and currently it fails the system check:
---- Checking Devices ----
[Fail] : hello-wacc
[Fail] : hello-motor-left-wheel
[Fail] : hello-pimu
[Pass] : hello-lrf
[Fail] : hello-dynamixel-head
[Fail] : hello-dynamixel-wrist
[Fail] : hello-motor-arm
[Fail] : hello-motor-right-wheel
[Fail] : hello-motor-lift
[Pass] : hello-respeaker

Those packages seems missing at /dev, if there is anyway for me to install those back? And, if there is any guidlines for using moveit?

Thanks.

This is the robot with ID 1007 at CMU. My partner says he previously set it up and comment out something to make it work, just in case that information might be helpful.

3

Hi @Chaoran_Zhang, welcome to the forum! Can you post the full output of running stretch_robot_system_check.py? You mentioned that “packages seems missing at /dev”; can you also include the output of ls -al /dev/hello*?

At the moment, support for MoveIt and MoveIt2 are actively under development. We have a demonstration of MoveIt planning for a Gazebo simulated Stretch described in this README. Stay tuned for details on using MoveIt to plan for the real robot.

4

Hi,

I re-installed some of the packages and currently, everything is working except the gripper.

For the Moveit and Moveit2, is that means the currently only the simulator, Gazebo, is fully-supported, but using Moveit or Moveit2 to control the real robot is not fully-supported at this moment?

The output of stretch_robot_system_check.py is:
Overwritting Factory Params with User Params. Type mismatch for key: tool_none
For use with S T R E T C H ™ RESEARCH EDITION from Hello Robot Inc.

[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-motor-arm
[Pass] : hello-dynamixel-wrist
[Pass] : hello-motor-right-wheel
[Pass] : hello-motor-lift
[Pass] : hello-pimu
[Pass] : hello-respeaker
[Pass] : hello-lrf
[Pass] : hello-dynamixel-head

---- Checking Pimu ----
[Pass] Voltage = 12.7837586403
[Pass] Current = 3.25759907856
[Pass] Temperature = 24.5389783994
[Fail] Cliff-0 = 28.4993896484 out of range -50 to 20
[Pass] Cliff-1 = 19.1741943359
[Fail] Cliff-2 = 49.0583496094 out of range -50 to 20
[Fail] Cliff-3 = 46.025177002 out of range -50 to 20
[Pass] IMU AZ = -9.75911903381
[Pass] IMU Pitch = -7.90741157532
[Pass] IMU Roll = -7.24780273438

---- Checking EndOfArm ----
[Fail] Ping of: stretch_gripper

[Pass] Ping of: wrist_yaw
[Fail] Not Calibrated: wrist_yaw

---- Checking Head ----
[Pass] Ping of: head_tilt

[Pass] Ping of: head_pan

---- Checking Wacc ----
[Pass] AX = 9.55035305023

---- Checking hello-motor-left-wheel ----
[Pass] Position = -2.50163269043

[WARNING] [tool_stretch_gripper]: Device tool_stretch_gripper generating 34.843325 errors per minute

---- Checking hello-motor-right-wheel ----
[Pass] Position = -0.203243404627

---- Checking hello-motor-arm ----
[Pass] Position = -3.03727412224
[Fail] Position Calibrated = False

---- Checking hello-motor-lift ----
[Pass] Position = -2.70553970337
[Fail] Position Calibrated = False

---- Checking for Intel D435i ----
Bus 002 Device 002: ID 8086:0b3a Intel Corp.
[Pass] : Device found

and the output of ls -al /dev/hello* is:
lrwxrwxrwx 1 root root 7 Sep 13 12:36 /dev/hello-dynamixel-head → ttyUSB0
lrwxrwxrwx 1 root root 7 Sep 13 12:36 /dev/hello-dynamixel-wrist → ttyUSB1
lrwxrwxrwx 1 root root 7 Sep 13 12:36 /dev/hello-lrf → ttyUSB2
lrwxrwxrwx 1 root root 7 Sep 13 12:36 /dev/hello-motor-arm → ttyACM4
lrwxrwxrwx 1 root root 7 Sep 13 12:36 /dev/hello-motor-left-wheel → ttyACM0
lrwxrwxrwx 1 root root 7 Sep 13 12:36 /dev/hello-motor-lift → ttyACM2
lrwxrwxrwx 1 root root 7 Sep 13 12:36 /dev/hello-motor-right-wheel → ttyACM1
lrwxrwxrwx 1 root root 7 Sep 13 12:36 /dev/hello-pimu → ttyACM3
lrwxrwxrwx 1 root root 15 Sep 13 12:36 /dev/hello-respeaker → bus/usb/001/012
lrwxrwxrwx 1 root root 7 Sep 13 12:36 /dev/hello-wacc → ttyACM5

5

Great, looks like everything else works. We’ll continue debugging gripper issues in your other thread.

A demo for Gazebo and MoveIt exists here. Using MoveIt and MoveIt2 with the real robot is in active development at the moment.