Forums Niryo One Troubleshooting TF Fail

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  • Bryce Ashey
    Participant
    Post count: 4

    Hey fellas,
    I’m in the process of testing out the Niryo (just finished assembling it) and I’m running into a weird error right off the bat. Any guidance on what to look into when the below errors appear? I have updated everything to the latest versions: studio 2.1.1, pi img 2.1.0, and firmware 2.0.0.

    [2019-05-12 17:29:38] “shoulder_link” passed to lookupTransform argument source_frame does not exist.
    [2019-05-12 17:29:38] “arm_link” passed to lookupTransform argument source_frame does not exist.
    [2019-05-12 17:29:38] “elbow_link” passed to lookupTransform argument source_frame does not exist.
    [2019-05-12 17:29:38] “forearm_link” passed to lookupTransform argument source_frame does not exist.
    [2019-05-12 17:29:38] “wrist_link” passed to lookupTransform argument source_frame does not exist.
    [2019-05-12 17:29:38] Could not find a connection between ‘base_link’ and ‘hand_link’ because they are not part of the same tree.Tf has two or more unconnected trees.
    [2019-05-12 17:29:39] TF fail
    [2019-05-12 17:29:39] TF fail
    [2019-05-12 17:29:39] TF fail

    To add to this:
    I have a green light on the shield and briefly get a green light on the first two motors but not the rest. Perhaps a short somewhere?

    Cheers,
    Bryce

    • This topic was modified 2 months, 1 week ago by  Bryce Ashey. Reason: more debug info
    Bryce Ashey
    Participant
    Post count: 4

    Further up in the logs I also get:

    [2019-05-12 17:48:55] TF fail
    [2019-05-12 17:48:55] TF fail
    [2019-05-12 17:48:55] Niryo ROS control LED service is not up!
    [2019-05-12 17:48:55] Could not call /niryo_one/set_dxl_leds service
    [2019-05-12 17:48:55] Activate learning mode
    [2019-05-12 17:48:55] TF fail
    [2019-05-12 17:48:55] TF fail

    Edouard Renard
    Keymaster
    Post count: 220

    Hi Bryce,

    Welcome to this forum. Did you install the ROS stack yourself on a Raspberry Pi image?

    The issue you have is because there is surely a missing dependency somewhere, or something isn’t compiled properly. Thus, some of the parts of the program can’t be launched (surely an exception happened during the execution), and then everything else fails as a result.

    This should not happen if you just flash the Niryo One RPi image to a micro SD card, hence my question above. Also, could you copy/paste the complete logs when you start the Niryo One ROS stack?

    Bryce Ashey
    Participant
    Post count: 4

    Hey Edouard,
    Thank you for responding – I did use the image – even refreshed it from the site to make sure. Is there anything that I could have screwed up from the start (physically) that would just prevent the services from starting? The plugs on my board differ from those in the video (one black [20 pin I think] versus several white) and the board came assembled in the packaging – not sure if that helps at all.

    Here’s the full log – please let me know if there’s anything I missed (I just did a ctrl-a/ctrl-c from the studio ROS log):

    Connected to 192.168.201.46
    sync
    chevron_left

    NIRYO ONE STUDIO LOGS

    [ ERROR ] [2019-05-13 15:45:06] Robot Connection – [object Event]
    [ INFO ] [2019-05-13 15:45:06] Robot Connection – Connection to robot is now closed
    [ ERROR ] [2019-05-13 15:45:27] Robot Connection – [object Event]
    [ INFO ] [2019-05-13 15:45:27] Robot Connection – Connection to robot is now closed
    [ ERROR ] [2019-05-13 15:45:56] Robot Connection – [object Event]
    [ INFO ] [2019-05-13 15:45:56] Robot Connection – Connection to robot is now closed
    [ SUCCESS ] [2019-05-13 15:45:56] Robot Connection – Successfully connected to ws://192.168.201.46:9090
    ROBOT LOGS (ROS)

    [2019-05-13 15:45:57] TF fail
    [2019-05-13 15:45:57] TF fail
    [2019-05-13 15:45:57] TF fail
    [2019-05-13 15:45:58] TF fail
    [2019-05-13 15:45:58] TF fail
    [2019-05-13 15:45:58] TF fail
    [2019-05-13 15:45:58] TF fail
    [2019-05-13 15:45:58] TF fail
    [2019-05-13 15:45:58] “shoulder_link” passed to lookupTransform argument source_frame does not exist.
    [2019-05-13 15:45:58] “arm_link” passed to lookupTransform argument source_frame does not exist.
    [2019-05-13 15:45:58] “elbow_link” passed to lookupTransform argument source_frame does not exist.
    [2019-05-13 15:45:58] “forearm_link” passed to lookupTransform argument source_frame does not exist.
    [2019-05-13 15:45:58] “wrist_link” passed to lookupTransform argument source_frame does not exist.
    [2019-05-13 15:45:58] Could not find a connection between ‘base_link’ and ‘hand_link’ because they are not part of the same tree.Tf has two or more unconnected trees.
    [2019-05-13 15:45:59] TF fail
    [2019-05-13 15:45:59] TF fail
    [2019-05-13 15:45:59] TF fail
    [2019-05-13 15:45:59] TF fail
    [2019-05-13 15:45:59] TF fail
    [2019-05-13 15:46:00] TF fail
    [2019-05-13 15:46:00] TF fail
    [2019-05-13 15:46:00] TF fail
    [2019-05-13 15:46:00] TF fail
    [2019-05-13 15:46:00] TF fail
    [2019-05-13 15:46:01] TF fail
    [2019-05-13 15:46:01] TF fail
    MOTOR DEBUG OPTIONS

    Not connected to Niryo One.

    Learning mode
    Joints (rad)
    0.000
    0.000
    0.000
    0.000
    0.000
    0.000
    save
    Position (m)
    x : 0.000
    y : 0.000
    z : 0.000
    Rotation (rad)
    x : 0.000
    y : 0.000
    z : 0.000
    Arm max. speed

    %
    mode_edit
    No tool selected

    Edouard Renard
    Keymaster
    Post count: 220

    This is maybe an issue not related to the image itself, but on some wrong hardware connection. Not 100% sure we’ll have to debug a little bit further.

    Could you contact our technical support, and provide a complete log from the robot directly (via ssh). You can find a tutorial here, check the end to understand how you can get the full logs when you start the application. Thanks!

    Bryce Ashey
    Participant
    Post count: 4

    Log submitted via the tech support link – thank you again for guidance – even without being able to use it yet Niryo has taught me quite a bit. I’m really enjoying it.

    Cheers,
    bryce

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