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Thread: Dynamixel Driver fails to open port for VX300 robot arm

  1. Dynamixel Driver fails to open port for VX300 robot arm

    Currently struggling to connect the VX300s 6DOF robot. The operating system running is Ubuntu 18.04. This install script 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.

    Code:
    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.




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




  2. #2

    Re: Dynamixel Driver fails to open port for VX300 robot arm

    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_P...xl_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/pe...erial-devices/
    For information about these...

    Sorry probably not much help

  3. Re: Dynamixel Driver fails to open port for VX300 robot arm

    [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.

  4. Re: Dynamixel Driver fails to open port for VX300 robot arm

    [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.

  5. #5

    Re: Dynamixel Driver fails to open port for VX300 robot arm

    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

  6. #6

    Re: Dynamixel Driver fails to open port for VX300 robot arm

    Actually looks like U2D2 is an FTDI device: On my Ubuntu machine:

    Sorry the text did not cut and paste well on the machine...
    Last edited by KurtEck; 08-24-2021 at 09:59 AM.

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