Forums Niryo One Troubleshooting Sequence Autorun arbitrarily stops – various reasons

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  • FindingNiryo
    Participant
    Post count: 88

    Niryo One Studio : 2.1.1
    Raspberry Pi 3 image : 2.1.0
    ROS : 2.1.0
    triggered by top button runs for a few minutes then stops
    ROBOT LOGS (ROS)
    [2019-03-07 08:02:11] Robot Action Server – Received goal. Check if exists
    [2019-03-07 08:02:11] Robot Action Server – Checking parameters Validity
    [2019-03-07 08:02:11] Robot Action Server – Goal has been accepted
    [2019-03-07 08:02:11] Send Moveit trajectory
    [2019-03-07 08:02:11] Robot Action Server : Executing command in a new thread
    [2019-03-07 08:02:11] Received trajectory GOAL
    [2019-03-07 08:02:11] Arm commander – Got a goal id : /move_group-561-1551963731.134443124
    [2019-03-07 08:02:11] Unexpected error: No trajectory defined at current time. Please contact the package maintainer.

    [2019-03-07 08:02:12] Unexpected error: No trajectory defined at current time. Please contact the package maintainer.
    [2019-03-07 08:02:13] An exception was thrown during command execution
    [2019-03-07 08:02:13] Execution has been aborted
    [2019-03-07 08:02:14] Received trajectory RESULT
    [2019-03-07 08:02:14] Arm commander – Result : 3

    [EDIT] All similar topics (Sequence Autorun arbitrarily stops) were merged in topic [/EDIT]

    FindingNiryo
    Participant
    Post count: 88

    Niryo One Studio : 2.1.1
    Raspberry Pi 3 image : 2.1.0
    ROS : 2.1.0
    triggered by top button runs for a few minutes then stops
    ROBOT LOGS (ROS):
    [2019-03-07 07:52:09] Robot Action Server – Received goal. Check if exists
    [2019-03-07 07:52:09] Robot Action Server – Checking parameters Validity
    [2019-03-07 07:52:09] Robot Action Server – Goal has been accepted
    [2019-03-07 07:52:09] Robot Action Server : Executing command in a new thread
    [2019-03-07 07:52:09] Send Moveit trajectory
    [2019-03-07 07:52:09] Arm commander – Got a goal id : /move_group-396-1551963129.605475034
    [2019-03-07 07:52:09] Received trajectory GOAL
    [2019-03-07 07:52:09] Can’t accept new action goals. Controller is not running.
    [2019-03-07 07:52:09] Received trajectory RESULT
    [2019-03-07 07:52:09] Arm commander – Result : 5
    [2019-03-07 07:52:09] Unknown result, goal has been set as aborted

    • This reply was modified 2 months, 2 weeks ago by  FindingNiryo.
    • This reply was modified 1 month, 3 weeks ago by  Edouard Renard.
    FindingNiryo
    Participant
    Post count: 88

    Niryo One Studio : 2.1.1
    Raspberry Pi 3 image : 2.1.0
    ROS : 2.1.0
    triggered by top button runs for a few minutes then stops
    ROBOT LOGS (ROS)
    [2019-03-07 09:42:50] Goal has been set as succeeded
    [2019-03-07 09:42:50] Robot Action Server – Received goal. Check if exists
    [2019-03-07 09:42:50] Robot Action Server – Checking parameters Validity
    [2019-03-07 09:42:50] Robot Action Server – Goal has been accepted
    [2019-03-07 09:42:51] Send Moveit trajectory
    [2019-03-07 09:42:51] Received trajectory GOAL
    [2019-03-07 09:42:51] Robot Action Server : Executing command in a new thread
    [2019-03-07 09:42:51] Received trajectory RESULT
    [2019-03-07 09:42:51] Arm commander – Received result, WRONG GOAL ID
    [2019-03-07 09:42:51] Arm commander – Got a goal id : /move_group-1508-1551969771.63381353
    [2019-03-07 09:42:53] An exception was thrown during command execution
    [2019-03-07 09:42:53] Execution has been aborted

    • This reply was modified 2 months, 2 weeks ago by  FindingNiryo.
    • This reply was modified 1 month, 3 weeks ago by  Edouard Renard.
    FindingNiryo
    Participant
    Post count: 88

    Niryo One Studio : 2.1.1
    Raspberry Pi 3 image : 2.1.0
    ROS : 2.1.0
    triggered by top button runs for a few minutes then stops
    ROBOT LOGS (ROS)
    [2019-03-07 09:52:53] Robot Action Server – Received goal. Check if exists
    [2019-03-07 09:52:53] Robot Action Server – Checking parameters Validity
    [2019-03-07 09:52:53] Robot Action Server – Goal has been accepted
    [2019-03-07 09:52:53] Send Moveit trajectory
    [2019-03-07 09:52:53] Robot Action Server : Executing command in a new thread
    [2019-03-07 09:52:53] Received trajectory GOAL
    [2019-03-07 09:52:53] Arm commander – Got a goal id : /move_group-1661-1551970373.456363273
    [2019-03-07 09:52:53] Received trajectory RESULT
    [2019-03-07 09:52:53] Arm commander – Result : 4
    [2019-03-07 09:52:53] SEND POSITION HOLD MODE TO CONTROLLER
    [2019-03-07 09:52:53] Controller failed during execution : Goal has been aborted

    • This reply was modified 2 months, 2 weeks ago by  FindingNiryo.
    • This reply was modified 1 month, 3 weeks ago by  Edouard Renard.
    FindingNiryo
    Participant
    Post count: 88

    Niryo One Studio : 2.1.1
    Raspberry Pi 3 image : 2.1.0
    ROS : 2.1.0
    triggered by top button runs for a few minutes then stops (no cancel requested)
    ROBOT LOGS (ROS)
    [2019-03-07 10:40:29] Robot Action Server – Received goal. Check if exists
    [2019-03-07 10:40:29] Robot Action Server – Checking parameters Validity
    [2019-03-07 10:40:29] Robot Action Server – Goal has been accepted
    [2019-03-07 10:40:29] Robot Action Server : Executing command in a new thread
    [2019-03-07 10:40:29] Send Moveit trajectory
    [2019-03-07 10:40:29] Arm commander – Got a goal id : /move_group-19-1551973229.415210971
    [2019-03-07 10:40:29] Received trajectory GOAL
    [2019-03-07 10:40:29] Received trajectory RESULT
    [2019-03-07 10:40:29] Arm commander – Result : 2
    [2019-03-07 10:40:29] Goal has been successfully canceled

    Edouard Renard
    Keymaster
    Post count: 192

    This issue can happen due to several reasons, and sometimes can be quite tricky to debug.

    Reasons can vary from mechanical to hardware to software.

    First, keep in mind that all the software is running on Ubuntu 16.04, on a Raspberry Pi 3. Ubuntu is not a real time operating system, and the Raspberry Pi 3 is far from a very fast computer. Add to that the non-stability of many ROS packages (including Moveit! and ros_control). Sometimes, errors come from this fact only – not the Niryo One, and it’s quite hard to debug them.

    I’ll list here the different errors and an explanation for each:

    – “Unexpected error: No trajectory defined at current time. Please contact the package maintainer.”

    This is a typical ros_control issue. Maybe adding a small delay between 2 commands can solve this, but not 100% sure.

    – “Goal has been successfully canceled”

    This is probably due to a mechanical issue, where some motors have a hard time following up with the given command.

    – “Execution has been aborted” | “Controller failed during execution : Goal has been aborted” | “Can’t accept new action goals. Controller is not running.”

    Seems to come also from ros_control. A small delay between 2 commands will reduce this kind of errors.

    For improving the global quality, I’d suggest that you

    – Make sure all hardware interfaces are correctly connected, and no wire is tensed too much

    – Belts are correctly tensed, pulleys are correctly fixed, and magnets on NiryoStepper are also correctly fixed

    – Add a small delay between 2 commands. The non-real time environment + sometimes buggy ROS packages + low computation power of the Rpi3B might be an issue here.

    Hope this will help!

    FindingNiryo
    Participant
    Post count: 88

    To clarify, the robot arm is running a blockley sequence uploaded through NiroyOne Studio and triggered by pressing the button on top of the robot. The sequence consists of 21 move_pose which take about 44 seconds to accomplish. The sequence has an outer loop of 10 iterations and never completes all ten cycles without one of the above errors occurring and the robot arm stops.

    I modified the sequence to be joint moves in order to eliminate inverse kinematic solution searches and added a delay between each move. The arm without gripper was able to complete the 10 iteration loop with 1 second delay between moves but not smaller delays. Adding gripper #3 (with no payload) caused the robot to be incapable of completing 10 iterations. Increasing delay between moves to two seconds (doubling the cycle time) was not enough to enable to the arm to complete 10 iterations.

    It seems after each move there is some settling as the robot adjusts its final stopping point. Perhaps the code that decides the robot is finished a move {stopped moving} should have a smaller tolerance. Also this may be a matter of PID tuning for closer trajectory following.

    [2019-03-28 08:58:30] Got a callback on a goalHandle that we’re not tracking. This is an internal SimpleActionClient/ActionClient bug. This could also be a GoalID collision

    [2019-03-28 08:58:37] Goal has been successfully canceled

    [2019-03-28 09:16:10] Unknown result, goal has been set as aborted

    Edouard Renard
    Keymaster
    Post count: 192

    You can try to modify this configuration file. After modification, make sure to restart the ROS program of the robot.

    Increase the “trajectory” limit settings and see what you get. Maybe that will reduce the errors from the controller.

    FindingNiryo
    Participant
    Post count: 88

    Am I the only one getting these errors? Is anyone able to get the arm to consistently perform a sequence of positions for more than a few minutes?

    Edouard Renard
    Keymaster
    Post count: 192

    We found it’s quite common to get this kind of error after a few hours (sometimes minutes). We’re currently working on it. The work to solve that requires changing a lot of core components in the software, so it will take some time. We’ll let you know when it’s ready!

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