Warning with the stretch_robot_system_check.py command

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1

Hi, when I execute the command stretch_robot_system_check.py i have the next warning.
Could you tell me how to update this packages?
Also could you tell me how to update the urdf to the new version? I ask this because someone change the version to a older one.

---- Checking Software ----
[Warn] Ubuntu 20.04 not ready (ros-noetic-librealsense2 not set-up correctly)
[Pass] Firmware is up-to-date
         hello-pimu = v0.2.4p1
         hello-wacc = v0.2.2p1
         hello-motor-arm = v0.2.5p1
         hello-motor-lift = v0.2.5p1
         hello-motor-left-wheel = v0.2.9p1
         hello-motor-right-wheel = v0.2.9p1
[Warn] Python pkgs not up-to-date
         Stretch Body = 0.5.7
         Stretch Body Tools = 0.5.2
         Stretch Tool Share = 0.2.6
         Stretch Factory = 0.3.15
         Stretch Diagnostics = 0.0.7
2

Hi @Humberto_Andres_Hida ,

You can update the Stretch Packages simply using the Pip package install commands.

pip3 install -U hello-robot-stretch-body
pip3 install -U hello-robot-stretch-body-tools
pip3 install -U hello-robot-stretch-tool-share
pip3 install -U hello-robot-stretch-factory
pip3 install -U hello-robot-stretch-diagnostics
pip3 install -U hello-robot-stretch-urdf
3

Additionally, you have a warning about ros-noetic-librealsense2. It should be uninstalled using:

sudo apt uninstall ros-noetic-librealsense2

The right version of librealsense2 is installed in your ROS workspace.

4

I already used that commands, but they didn’t work, I have the same warning messages

5

Hi @Humberto_Andres_Hida, I’ve recently found a bug in the system check tool, which reported that warning.

Could you upgrade your Python libraries again and check again for the warning.

pip3 install -U hello-robot-stretch-body
pip3 install -U hello-robot-stretch-body-tools
pip3 install -U hello-robot-stretch-tool-share
pip3 install -U hello-robot-stretch-factory
pip3 install -U hello-robot-stretch-diagnostics
pip3 install -U hello-robot-stretch-urdf
6

do you mean that i have to unistall from the the workspace in the computer or in the robot?

8

I have the same wanings messages, also i have a warning message when i try to launch the driver launch with:

roslaunch stretch_core stretch_driver.launch

the message is:

roslaunch stretch_core stretch_driver.launch
... logging to /home/hello-robot/.ros/log/940bad6a-9838-11ee-abec-87934603d30e/roslaunch-stretch-re2-2005-4786.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://172.16.0.205:42791/

SUMMARY
========

PARAMETERS
 * /joint_state_publisher/rate: 30.0
 * /joint_state_publisher/source_list: ['/stretch/joint_...
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 30.0
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /stretch_driver/controller_calibration_file: /home/hello-robot...
 * /stretch_driver/rate: 30.0
 * /stretch_driver/timeout: 0.5

NODES
  /
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    stretch_driver (stretch_core/stretch_driver)

auto-starting new master
process[master]: started with pid [4801]
ROS_MASTER_URI=http://172.16.0.205:11311/

setting /run_id to 940bad6a-9838-11ee-abec-87934603d30e
process[rosout-1]: started with pid [4818]
started core service [/rosout]
process[joint_state_publisher-2]: started with pid [4825]
process[robot_state_publisher-3]: started with pid [4826]
process[stretch_driver-4]: started with pid [4827]
[ WARN] [1702307927.209493549]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[INFO] [rospy.topics]: topicmanager initialized
[INFO] [1702307928.318111]: For use with S T R E T C H (TM) RESEARCH EDITION from Hello Robot Inc.
[INFO] [1702307928.319981]: /stretch_driver started
[INFO] [1702307930.496635]: mode = position
[INFO] [1702307930.497589]: /stretch_driver: Changed to mode = position
[INFO] [1702307930.498877]: broadcast_odom_tf = False
[INFO] [1702307930.500136]: Loading controller calibration parameters for the head from YAML file named /home/hello-robot/catkin_ws/src/stretch_ros/stretch_core/config/controller_calibration_head.yaml
[INFO] [1702307930.501875]: controller parameters loaded = {'arm_retracted_offset': 0.0025290283993012154, 'pan_angle_offset': 0.05370401639426355, 'pan_looked_left_offset': 0.0015576428725509596, 'tilt_angle_backlash_transition': -0.4, 'tilt_angle_offset': -0.04653908482546884, 'tilt_looking_up_offset': -0.021135309455911962}
[INFO] [1702307930.502719]: head_tilt_calibrated_offset_rad in degrees = -2.666493142900698
[INFO] [1702307930.503540]: head_pan_calibrated_offset_rad in degrees = 3.0770134822926827
[INFO] [1702307930.504499]: head_pan_calibrated_looked_left_offset_rad in degrees = 0.08924636258580397
[INFO] [1702307930.505543]: head_tilt_backlash_transition_angle_rad in degrees = -22.918311805232932
[INFO] [1702307930.508538]: head_tilt_calibrated_looking_up_offset_rad in degrees = -1.2109640305266958
[INFO] [1702307930.511695]: arm_calibrated_retracted_offset_m in meters = 0.0025290283993012154
[INFO] [1702307930.541678]: /stretch_driver rate = 30.0 Hz
[INFO] [1702307930.542708]: /stretch_driver timeout = 0.5 s
[INFO] [1702307930.544824]: /stretch_driver use_fake_mechaduinos = False
[INFO] [1702307930.545842]: /stretch_driver base_frame_id = base_link
[INFO] [1702307930.546888]: /stretch_driver odom_frame_id = odom
9

Your log looks okay to me. If you’re referring to the warning, The root link base_link has an inertia..., you can safely ignore that.

10

On the robot. You would use the command:

sudo apt uninstall ros-noetic-librealsense2

Can you post the output of stretch_robot_system_check.py again if you’re seeing any warnings?

11

Thanks for the help, I create another workspace as you recommend to me in other post and uninstall the ros noetic libralsense2 and now I think that is working correctly

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