Sequence Command – Action Server is not up : niryo_one/commander/robot_action2018-07-04T14:36:28+00:00

Forums Niryo One Troubleshooting Sequence Command – Action Server is not up : niryo_one/commander/robot_action

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  • Rico
    Participant
    Post count: 4

    hi there,
    has anyone experienced this type of message (either in Studio or from Python API )?
    I’am able to connect to niryo , do a motor calibration but then, if I want to replay a sequence I get this message.
    I think this has occurred after a ROS stack upgrade yet I’m not certain.

    can we relaunch it manually ?

    best
    Rico

    • This topic was modified 2 weeks, 4 days ago by  Rico.
    Edouard Renard
    Keymaster
    Post count: 35

    Hi Rico,

    This error is directly coming from the Python API (the Niryo Blocks interface uses this API so if you get the error there, it’s the same).

    You said you did a ROS stack upgrade (so I suppose you did a “git pull origin master” on the catkin_ws/src repository, please correct me if I’m wrong).

    All the code that is more recent than the 1.1.0 commit will be released with a 2.0.0 tag. With all the new functionalities, there are a few things to do on the Raspberry Pi 3 (the instructions will be updated soon on the README, once all the 2.0.0 functionalities are developed).

    You need to install the jsonpickle library : sudo pip install -U jsonpickle. Without this library some parts of the ROS program will crash and you’ll get errors like the one you have.

    With that you should be able to work with the Python API.

    Also, an important point : the code > 1.1.0 is not compatible with the Niryo One Studio 1.1.0 (so if you use the app with the upgraded ROS stack, you’ll get many errors). You’ll need to wait for the next software release (scheduled this month) to get a new Raspberry Pi image 2.0.0 and a Niryo One Studio 2.0.0.

    Rico
    Participant
    Post count: 4

    Hi Edouard,
    thanks for pointing this, yes I followed your instructions regarding the git pull origin and the jsonpickle install.
    the problem was solved when I came back on the “mono” machine by setting back the ROS_MASTER_URI and ROS_HOSTNAME to localhost.

    by th way, I found another issue (not sure if it’s really one) when I launched a roswtf inside ~/catkin_ws/src/niryo_one_python_api/examples,
    I got a report saying :

    Static checks summary:
    
    Found 1 error(s).
    
    ERROR Not all paths in PYTHONPATH [/home/niryo/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages:/home/niryo/catkin_ws/src/niryo_one_python_api/src/niryo_python_api] point to a directory:
     * /home/niryo/catkin_ws/src/niryo_one_python_api/src/niryo_python_api
    
    ================================================================================
    Beginning tests of your ROS graph. These may take awhile...
    analyzing graph...
    ... done analyzing graph
    running graph rules...
    ... done running graph rules
    running tf checks, this will take a second...
    ... tf checks complete
    
    Online checks summary:
    
    Found 1 warning(s).
    Warnings are things that may be just fine, but are sometimes at fault
    
    WARNING The following node subscriptions are unconnected:
     * /move_group:
       * /collision_object
       * /planning_scene_world
       * /planning_scene
     * /niryo_one_commander:
       * /niryo_one/commander/robot_action/cancel
       * /niryo_one/commander/robot_action/goal
     * /user_interface:
       * /niryo_one_matlab/command

    is it just related with the fact that these subscriptions are (probably) not used in rpi_example_python_api.py?

    cheers
    Rico

    Edouard Renard
    Keymaster
    Post count: 35

    Thank you for providing the results of the tests you made !

    1. The error is due to a typo, we’ll fix that for the next image release. (and this errors seemed to have no bad effect so far)

    2. The warning here are because some nodes are subscribing to a topic for which there is no publisher. So no problem here, you can ignore the warning. If you want more info : the moveit topics are here because we don’t use those functionalities on the Raspberry Pi 3. The matlab topic is because the publisher is only started when you run the matlab application (available on our github), and for the niryo_one_commander, well, I guess it’s because there is no action client running yet.

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