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View Full Version : [Question(s)] Dynamixel Driver fails to open port for VX300 robot arm



RyeGuy
08-15-2021, 01:08 AM
Currently struggling to connect the VX300s 6DOF robot. The operating system running is Ubuntu 18.04. This install script (https://github.com/Interbotix/interbotix_ros_manipulators/blob/main/interbotix_ros_xsarms/install/amd64/xsarm_amd64_install.sh) from the ros manipulators repository was successfully executed on the machine. Observing the udev rules shows the interbotix rules were copied correctly. However I can never see /dev/ttyDXL when the robot is connected. Running lsusb does show the device is connected to the motherboard properly.


Bus 007 Device 002: ID 0403:6014 Future Technology Devices International, Ltd FT232H Single HS USB-UART/FIFO IC

Power is supplied and a red light appears on the U2D2.

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https://siteassetsinfo.s3.amazonaws.com/Screenshot+from+2021-08-15+01-47-52.png

Below is the error that I receive when trying to launch the moveit interface. Any suggestions to resolve this would be wonderful. Thanks!

https://siteassetsinfo.s3.amazonaws.com/Screenshot+from+2021-08-15+01-48-53.png

http://forums.trossenrobotics.com/image/png;base64,iVBORw0KGgoAAAANSUhEUgAAA3sAAAGiCAIAAAD RAUh6AAAgAElEQVR4Aex9B5hURbb/fN//vedMp5tD1e0eEAQEAUGySpAgGQlKRhTDGtYMuoZdV1HXhDkruK Y1obimtwZQQURkJbvm1XVdXRUjCDMDMv v6tx7urruvd09MALum/n66zm37qmqU3VD/fqkqiDNxv7hk2312z68Z0Qr7xf4Z7U7fX7t9vq6D1659 677777nt OaZ/9ZQyDZvcdvuD7n q3fXHjyGa/DJF9KWmu97EPL3094m/pM2f1rf5FjWXnhW302VB1I6VqCfhoWkLTUpqeZB j8KOnNPZJsA9j8z9B3UpFZZ9U r9Tqf9OpYCoTKXZJ62kNV23bMN2DNvJtB498/a77pw79/ZFf6 rr69/5uQWtkMpLT45luNC9chvy3GheuTZcKFLiNgdpdTksoU5bZdxEk rjTnmeJ8mGwohdSLTtysPRLVuzLM20VMNQdT2lqjCT8J1WtYym pTVd0XRFNxiPYaqm9XN/0u6Iy/6xtX7bh7cOar4DfbHhNOTzPy1PfIS/YF 8 67b77zrjt M3NviLRgmG6805HAJ9oX8jUdkWFNGVctRZ9565 133nXrwg/Z3fv0Sc34tYCzqmFmDFPRDX6NmMBYDvKLhxINtRTdSGs6fBRNt/mfE/y5/I8QQiklwh/lf1ggHWJ5g4jIRqBQ6h3kKbOwQTLsMmZxsEiLg8VCcbBiYUlRX dd1HMe2bcuyDMN/62Y0TdF0VTc008poGrwwE2klkVaAVnXdsGzDstOqf7Yylcazla l0SlGRx7BszTAVdv9oaVVLa ylwd4YwkfVdfhYtiO9lHbmkFKPf6hpWdBdhvcOkqRUNaWq8BJL qWyZgFHASPFbGlqYDUpSiqoZJnu36OxVCd1VppWEqhmGYVmWbd 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KurtEck
08-18-2021, 07:13 AM
Sorry I don't know what the Interbotix setup is doing or what library or libraries are in use.

The /dev/ttyDXL sounds similar to stuff I setup earlier when I was playing with linux SBC boards like the RPI.
And I made my own hacked up version of the Dynamixel library to allow /dev/ttyDXL to work.
https://github.com/KurtE/Raspberry_Pi/blob/master/BioloidEX/dxl_hal.cpp#L41

If it did not find that it then fell back to looking for /dev/ttyUSB0 and /dev/ttyACM0 and hoping one of these worked...

Might help if you printed out a few more things. like:

ls /dev/tty*

To see if it exists and if not what does. From above I would expect at least one /dev/ttyUSB<n> like ttyUSB0
which FTDI objects create.

Might help if you printed out your udev rulese file you mentioned above.

Then depending on what rules are there you may need to look at more details of the /dev/ttyUSB 0bject
like some of the details that the command: lsusb
will give you. My readme fro the project I mentioned which is more a set of rambling notes talks some about udev rules, and points me back to the website: http://hintshop.ludvig.co.nz/show/persistent-names-usb-serial-devices/
For information about these...

Sorry probably not much help

RyeGuy
08-20-2021, 12:02 PM
[QUOTE=KurtEck;97402]

Thank you for the reply @KurtEck! Unfortunately there are no dev entries created for the device when it is plugged in. I confirmed this by writing all the entries to disk to two separate text files. One for before the device was plugged in and one after. Afterwards I did a compare of the two files and there was no difference.

I have tried the same test on multiple usb ports and still no luck. To make sure it wasn't something on my OS I plugged in an external drive with a fresh install of ubuntu 18.04 then booted from that. After running the ros manipulators install script still no luck.

Not sure how to proceed from here.

RyeGuy
08-20-2021, 12:03 PM
[QUOTE=KurtEck;97402]


Thank you for the reply @KurtEck! Unfortunately there are no dev entries created for the device when it is plugged in. I confirmed this by writing all the entries to disk to two separate text files. One for before the device was plugged in and one after. Afterwards I did a compare of the two files and there was no difference.


I have tried the same test on multiple usb ports and still no luck. To make sure it wasn't something on my OS I plugged in an external drive with a fresh install of ubuntu 18.04 then booted from that. After running the ros manipulators install script still no luck.


Not sure how to proceed from here.

KurtEck
08-24-2021, 09:38 AM
Sorry, maybe should backup... First thing I would do is contact trossen support and see what they say... They don't typically monitor or respond to forum So VX300 looks like it is using a U2D2... You might want to print out the contents of the udev rules you showed in first posting. My guess is by default plugging in a U2D2 will create a /dev/ttyACMx like ttyACM0... device. SO question will be does the rule alias it to /dev/ttyDXL

KurtEck
08-24-2021, 09:56 AM
Actually looks like U2D2 is an FTDI device: On my Ubuntu machine:

Sorry the text did not cut and paste well on the machine...