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ROS packages for the ROBOTIS OP3

Home Page: http://emanual.robotis.com/docs/en/platform/op3/introduction/

License: Apache License 2.0

CMake 7.26% C++ 92.14% RobotFramework 0.61%

robotis robot dynamixel op3 humanoid ros package

robotis-op3's Introduction

ROBOTIS OP3

ROS Packages for ROBOTIS OP3

Version	Kinetic + Ubuntu Xenial	Melodic + Ubuntu Bionic
		-

ROBOTIS e-Manual for ROBOTIS OP3

ROBOTIS e-Manual for ROBOTIS OP3

Wiki for robotis_op3 Packages

Open Source related to ROBOTIS OP3

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robotis-op3's Issues

Sudden power on / off in OpenCR broke NUC

We broke two NUC.

First time, NUC was broken out when our OP3 ran out the battery and shut down.

Second time, it happened when I accidentally plugged in the battery. In this case, the OpenCR board was ON, so it was powered immediately when the battery was connected.

Therefore, OpenCR seems to be weak for power management under unexpected sudden electric change.

How can we solve it? This problem will be very critical because some users try to put an expensive SBC such as Xavier.

question about auto-fall recovery

Hi, I have a simple question, does OP3 has the ability to recover itself from falling on ground, in other word, once the OP3 falls on the ground, can it automatically stand up? I didn't find anything in the manual about that.

Error First Bulk Read

I can't start the manager every time i add the opencr as sensor because i got this first bulk read fail.
but if i disable the opencr in op.robot, everything works

error when try op3_manager with standard op3

hi
i try op3 manager with standard op3, but i've checked for updates (from R+Manager on Windows) all servos and updated all of it to version 42 (from 40).

And now op3 manager starts with this errors

process[op3_manager-1]: started with pid [3424]
process[op3_localization-2]: started with pid [3425]
[ INFO] [1553715380.459634064]: manager->init
[ERROR] [1553715380.568218833]: Torque on DXLs! [[RxPacketError] Unknown error code!]
[ERROR] [1553715380.602368186]: Torque on DXLs! [[RxPacketError] Unknown error code!]
[ERROR] [1553715380.636528690]: Torque on DXLs! [[RxPacketError] Unknown error code!]
[ERROR] [1553715380.670664274]: Torque on DXLs! [[RxPacketError] Unknown error code!]
[ERROR] [1553715380.704805024]: Torque on DXLs! [[RxPacketError] Unknown error code!]
[ERROR] [1553715380.839121352]: Fail to control LED [[RxPacketError] Unknown error code!]
/dev/ttyUSB0 added. (baudrate: 2000000)
(/dev/ttyUSB0) [ID: 1] XM-430 added.
(/dev/ttyUSB0) [ID: 2] XM-430 added.
(/dev/ttyUSB0) [ID: 3] XM-430 added.
(/dev/ttyUSB0) [ID: 4] XM-430 added.
(/dev/ttyUSB0) [ID: 5] XM-430 added.
(/dev/ttyUSB0) [ID: 6] XM-430 added.
(/dev/ttyUSB0) [ID: 7] XM-430 added.
(/dev/ttyUSB0) [ID: 8] XM-430 added.
(/dev/ttyUSB0) [ID: 9] XM-430 added.
(/dev/ttyUSB0) [ID: 10] XM-430 added.
(/dev/ttyUSB0) [ID: 11] XM-430 added.
(/dev/ttyUSB0) [ID: 12] XM-430 added.
(/dev/ttyUSB0) [ID: 13] XM-430 added.
(/dev/ttyUSB0) [ID: 14] XM-430 added.
(/dev/ttyUSB0) [ID: 15] XM-430 added.
(/dev/ttyUSB0) [ID: 16] XM-430 added.
(/dev/ttyUSB0) [ID: 17] XM-430 added.
(/dev/ttyUSB0) [ID: 18] XM-430 added.
(/dev/ttyUSB0) [ID: 19] XM-430 added.
(/dev/ttyUSB0) [ID: 20] XM-430 added.
(/dev/ttyUSB0) [ID:200] OPEN-CR added.
[ERROR] [1553715381.271926602]: Fail to load offset yaml.
[ WARN] [1553715381.580106068]: Head control - angle unit : 30
[ERROR] [1553715382.158283887]: [RobotisController] first bulk read fail!!
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info$ what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument
[op3_manager-1] process has died [pid 3424, exit code -6, cmd /home/robotis/catkin_ws/devel/lib/op3_manager/op3_manager$log file: /home/robotis/.ros/log/60334aba-50c7-11e9-9756-a0c5899b41a0/op3_manager-1*.log

I want to thank you for your assistance with these cases so far.

we want to send some joint positions calculated in the python file to real OP3.

Hi,
We sent some data to the python file from robot. We connected C++ and python.
Now we want to send some joint positions calculated in the python file to real OP3. (C++ from python)
Do you have some code lines? is it possible? Could you please help me?
Thanks previously

Fail to get foot step from planner

I am doing a simulation with op3. While I am using the foot planner, I met several problems.

First it is the tf fixed frame in rviz. I fixed it by remapping body_link to world frame. Please fix that problem in the next update.
Second, the problem is caused by the foot step service. In the ui part, I think you didn't start the foot plan service. The log said the service is not called.
I start the service manually. Please fix this problem in the next update.

The third problem I am still working on and waiting for your help is that
Start pose is not accessible.

Biosdisk read error

https://community.robotsource.org/t/biosdisk-read-error/1438

Undefined reference to octomap when catkin_make

I'm having undefined reference error again when running catkin_make. This one looks like to octomap library:

[ 94%] Built target open_cr_module
[ 95%] Built target op3_online_walking_module
[ 97%] Linking CXX executable /home/arif/catkin_ws/devel/lib/humanoid_localization/localization_node
[ 97%] Built target op3_action_editor
[ 98%] Built target offset_tuner_server_node
[100%] Built target op3_manager
/home/arif/catkin_ws/devel/lib/libmapmodel.so: undefined reference to octomap::AbstractOccupancyOcTree::writeBinary(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)' /home/arif/catkin_ws/devel/lib/libmapmodel.so: undefined reference to octomap::OcTree::OcTree(double)'
/home/arif/catkin_ws/devel/lib/libmapmodel.so: undefined reference to octomap::ColorOcTree::ColorOcTree(double)' /home/arif/catkin_ws/devel/lib/libmapmodel.so: undefined reference to octomath::operator<<(std::ostream&, octomath::Vector3 const&)'
/home/arif/catkin_ws/devel/lib/libmapmodel.so: undefined reference to `octomap::AbstractOcTree::read(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)'
collect2: error: ld returned 1 exit status
humanoid_navigation/humanoid_localization/CMakeFiles/localization_node.dir/build.make:319: recipe for target '/home/arif/catkin_ws/devel/lib/humanoid_localization/localization_node' failed
make[2]: *** [/home/arif/catkin_ws/devel/lib/humanoid_localization/localization_node] Error 1
CMakeFiles/Makefile2:13252: recipe for target 'humanoid_navigation/humanoid_localization/CMakeFiles/localization_node.dir/all' failed
make[1]: *** [humanoid_navigation/humanoid_localization/CMakeFiles/localization_node.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

Any idea on how to solve this?

Timer Thread Error

i got this error every time i launch op3_manager. what is wrong?

error when try op3_manager with XM540-W270-R

hi
i try op3 manager with set of 15 xm540 servos.

i already change the .robot file and add XM-540.device file.

but when i try to run the op3manager with op3_manager.launch, this message appear.

process[op3_localization-2]: started with pid [26270]
[ERROR] [1532100652.615660890]: Torque on DXLs! [[RxPacketError] Unknown error code!]
[ERROR] [1532100652.651648647]: Torque on DXLs! [[RxPacketError] Unknown error code!]
[ERROR] [1532100652.687631622]: Torque on DXLs! [[RxPacketError] Unknown error code!]
[ERROR] [1532100652.723618992]: Torque on DXLs! [[RxPacketError] Unknown error code!]
[ERROR] [1532100652.759606870]: Torque on DXLs! [[RxPacketError] Unknown error code!]
[ERROR] [1532100652.895751751]: Fail to control LED [[RxPacketError] Unknown error code!]
/dev/ttyACM0 added. (baudrate: 57600)
(/dev/ttyACM0) [ID: 1] XM-540 added.
(/dev/ttyACM0) [ID: 2] XM-540 added.
(/dev/ttyACM0) [ID: 3] XM-540 added.
(/dev/ttyACM0) [ID: 4] XM-540 added.
(/dev/ttyACM0) [ID: 5] XM-540 added.
(/dev/ttyACM0) [ID: 6] XM-540 added.
(/dev/ttyACM0) [ID: 7] XM-540 added.
(/dev/ttyACM0) [ID: 8] XM-540 added.
(/dev/ttyACM0) [ID: 9] XM-540 added.
(/dev/ttyACM0) [ID: 10] XM-540 added.
(/dev/ttyACM0) [ID: 11] XM-540 added.
(/dev/ttyACM0) [ID: 12] XM-540 added.
(/dev/ttyACM0) [ID: 13] XM-540 added.
(/dev/ttyACM0) [ID: 14] XM-540 added.
(/dev/ttyACM0) [ID: 15] XM-540 added.
(/dev/ttyACM0) [ID:200] OPEN-CR added.
[ INFO] [1532100654.028718785]: Load offsets...
[ WARN] [1532100654.348599766]: Head control - angle unit : 30
[ERROR] [1532100655.314481806]: [RobotisController] first bulk read fail!!
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injectorboost::lock_error >'
what(): boost: mutex lock failed in pthread_mutex_lock: Invalid arguu ment
[adam_manager-1] process has died [pid 26241, exit code -6, cmd /home/husein/catkin_ws/devel/lib/adam_manager/adam_manager __name:=adam_manager __log:=/home/husein/.ros/log/7ff5bac6-8c2e-11e8-a852-240a64b1d379/adam_manager-1.log].
log file: /home/husein/.ros/log/7ff5bac6-8c2e-11e8-a852-240a64b1d379/adam_manager-1*.log

I think i already change what suppose to change, but i study here.

thanks You very much

saufy

How to repair boot settings

I broke the boot loader of the Linux and fixed it with super-grub2, grub-install /dev/sda, and update-grub.

However, this reset the grub setting, so the NUC shows the OS selection menu.

How can I kill the OS selection menu? I compared /etc/default/grub with the original copy, but there is no diff between the two files.

Linux Mint dependent issues

Some scripts which are used in ROS community might overwrite /etc/apt/sources.list.d/ros-latest.list because lsb_release -sc command returns "serena" instead of "xenial".

Python error when launching manager

I got this error when trying to launch the manager. Is this caused by the cpp program or the ros python?

roslaunch op3_manager alfarobi_manager.launch 
... logging to /home/alfarobi/.ros/log/4c92a3d0-50b2-11e9-85e7-3576f2f1f2ec/roslaunch-alfarobi-20180.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/__init__.py", line 306, in main
    p.start()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 268, in start
    self._start_infrastructure()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 217, in _start_infrastructure
    self._load_config()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 132, in _load_config
    roslaunch_strs=self.roslaunch_strs, verbose=self.verbose)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/config.py", line 451, in load_config_default
    loader.load(f, config, verbose=verbose)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 749, in load
    self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 721, in _load_launch
    self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 681, in _recurse_load
    self._rosparam_tag(tag, context, ros_config, verbose=verbose)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call
    return f(*args, **kwds)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 239, in _rosparam_tag
    self.load_rosparam(context, ros_config, cmd, param, file, value, verbose=verbose, subst_function=subst_function)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/loader.py", line 430, in load_rosparam
    self.add_param(ros_config, full_param, data, verbose=verbose)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/loader.py", line 357, in add_param
    self.add_param(ros_config, ns_join(param_name, k), v, verbose=verbose)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/loader.py", line 357, in add_param
    self.add_param(ros_config, ns_join(param_name, k), v, verbose=verbose)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosgraph/names.py", line 172, in ns_join
    if is_private(name) or is_global(name):
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosgraph/names.py", line 133, in is_private
    return name and name[0] == PRIV_NAME
TypeError: 'int' object has no attribute '__getitem__'

Now we want to do both walk and transport a object.

Hi Kayman,
We can run the robot. We can capture objects. Now we want to do both together. How to walk and carry objects together. Let grasp the object and let us move it and leave it somewhere else. Could you please a little information about this? Thanks

kinetic build failures on the buildfarm: op3_base_module op3_direct_control_module op3_walking_module

http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__op3_base_module__ubuntu_xenial_amd64__binary/45/console

23:21:23 CMake Error at /opt/ros/kinetic/share/op3_kinematics_dynamics/cmake/op3_kinematics_dynamicsConfig.cmake:148 (message):
23:21:23   Project 'op3_base_module' tried to find library 'op3_kinematics_dynamics'.
23:21:23   The library is neither a target nor built/installed properly.  Did you
23:21:23   compile project 'op3_kinematics_dynamics'? Did you find_package() it before
23:21:23   the subdirectory containing its code is included?
23:21:23 Call Stack (most recent call first):
23:21:23   /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package)
23:21:23   CMakeLists.txt:10 (find_package)
23:21:23

http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__op3_direct_control_module__ubuntu_xenial_amd64__binary/39/console

23:21:40   Could not find a package configuration file provided by
23:21:40   "robotis_framework_common" with any of the following names:
23:21:40 
23:21:40     robotis_framework_commonConfig.cmake
23:21:40     robotis_framework_common-config.cmake
23:21:40 
23:21:40   Add the installation prefix of "robotis_framework_common" to
23:21:40   CMAKE_PREFIX_PATH or set "robotis_framework_common_DIR" to a directory
23:21:40   containing one of the above files.  If "robotis_framework_common" provides
23:21:40   a separate development package or SDK, be sure it has been installed.
23:21:40 Call Stack (most recent call first):
23:21:40   CMakeLists.txt:10 (find_package)
23:21:40 
23:21:40

http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__op3_walking_module__ubuntu_xenial_amd64__binary/46/console

23:22:10 CMake Error at /opt/ros/kinetic/share/op3_kinematics_dynamics/cmake/op3_kinematics_dynamicsConfig.cmake:148 (message):
23:22:10   Project 'op3_walking_module' tried to find library
23:22:10   'op3_kinematics_dynamics'.  The library is neither a target nor
23:22:10   built/installed properly.  Did you compile project
23:22:10   'op3_kinematics_dynamics'? Did you find_package() it before the
23:22:10   subdirectory containing its code is included?
23:22:10 Call Stack (most recent call first):
23:22:10   /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package)
23:22:10   CMakeLists.txt:10 (find_package)
23:22:10 
23:22:10

Memory error while op3_manager is running

Hi!
After we fixed OpenCR board we got new error while op3_manager is running.

[ INFO] [1565263982.275285646]: [start] send trajectory
[ INFO] [1565263986.282749598]: [end] send trajectory
*** Error in `/home/robotis/catkin_ws/devel/lib/op3_manager/op3_manager': free(): invalid next size (fast): 0x00007ff93c002920 ***
======= Backtrace: =========
/lib/x86_64-linux-gnu/libc.so.6(+0x777e5)[0x7ff97fb847e5]
/lib/x86_64-linux-gnu/libc.so.6(+0x8037a)[0x7ff97fb8d37a]
/lib/x86_64-linux-gnu/libc.so.6(cfree+0x4c)[0x7ff97fb9153c]
/home/robotis/catkin_ws/devel/lib/libdynamixel_sdk.so(_ZN9dynamixel22Protocol2PacketHandler6readRxEPNS_11PortHandlerEhtPhS3_+0x111)[0x7ff980e5a603]
/home/robotis/catkin_ws/devel/lib/libdynamixel_sdk.so(_ZN9dynamixel13GroupBulkRead8rxPacketEv+0x110)[0x7ff980e610b2]
/home/robotis/catkin_ws/devel/lib/librobotis_controller.so(_ZN17robotis_framework17RobotisController7processEv+0x357)[0x7ff982b3133b]
/home/robotis/catkin_ws/devel/lib/librobotis_controller.so(_ZN17robotis_framework17RobotisController11timerThreadEPv+0x206)[0x7ff982b2f8a2]
/lib/x86_64-linux-gnu/libpthread.so.0(+0x76ba)[0x7ff97f0546ba]
/lib/x86_64-linux-gnu/libc.so.6(clone+0x6d)[0x7ff97fc1441d]
======= Memory map: ========
00400000-00438000 r-xp 00000000 08:02 5248458                            /home/robotis/catkin_ws/devel/lib/op3_manager/op3_manager
00638000-00639000 r--p 00038000 08:02 5248458                            /home/robotis/catkin_ws/devel/lib/op3_manager/op3_manager
00639000-0063a000 rw-p 00039000 08:02 5248458                            /home/robotis/catkin_ws/devel/lib/op3_manager/op3_manager
023d9000-0272f000 rw-p 00000000 00:00 0                                  [heap]
7ff930000000-7ff930021000 rw-p 00000000 00:00 0 
7ff930021000-7ff934000000 ---p 00000000 00:00 0 
7ff9377ff000-7ff937800000 ---p 00000000 00:00 0 
7ff937800000-7ff938000000 rw-p 00000000 00:00 0 
7ff938000000-7ff938021000 rw-p 00000000 00:00 0 
7ff938021000-7ff93c000000 ---p 00000000 00:00 0 
7ff93c000000-7ff93c021000 rw-p 00000000 00:00 0 
7ff93c021000-7ff940000000 ---p 00000000 00:00 0 
7ff940000000-7ff940021000 rw-p 00000000 00:00 0 
7ff940021000-7ff944000000 ---p 00000000 00:00 0 
7ff944000000-7ff944021000 rw-p 00000000 00:00 0 
7ff944021000-7ff948000000 ---p 00000000 00:00 0 
7ff948000000-7ff948021000 rw-p 00000000 00:00 0 
7ff948021000-7ff94c000000 ---p 00000000 00:00 0 
7ff94c000000-7ff94c021000 rw-p 00000000 00:00 0 
7ff94c021000-7ff950000000 ---p 00000000 00:00 0 
7ff950000000-7ff950021000 rw-p 00000000 00:00 0 
7ff950021000-7ff954000000 ---p 00000000 00:00 0 
7ff954000000-7ff95402a000 rw-p 00000000 00:00 0 
7ff95402a000-7ff958000000 ---p 00000000 00:00 0 
7ff958000000-7ff958021000 rw-p 00000000 00:00 0 
7ff958021000-7ff95c000000 ---p 00000000 00:00 0 
7ff95c000000-7ff95c021000 rw-p 00000000 00:00 0 
7ff95c021000-7ff960000000 ---p 00000000 00:00 0 
7ff960000000-7ff960021000 rw-p 00000000 00:00 0 
7ff960021000-7ff964000000 ---p 00000000 00:00 0 
7ff964000000-7ff964021000 rw-p 00000000 00:00 0 
7ff964021000-7ff968000000 ---p 00000000 00:00 0 
7ff968000000-7ff968021000 rw-p 00000000 00:00 0 
7ff968021000-7ff96c000000 ---p 00000000 00:00 0 
7ff96c5b0000-7ff96c5b1000 ---p 00000000 00:00 0 
7ff96c5b1000-7ff96cdb1000 rw-p 00000000 00:00 0 
7ff96cdb1000-7ff96cdb2000 ---p 00000000 00:00 0 
7ff96cdb2000-7ff96d5b2000 rw-p 00000000 00:00 0 
7ff96d5b2000-7ff96d5b3000 ---p 00000000 00:00 0 
7ff96d5b3000-7ff96ddb3000 rw-p 00000000 00:00 0 
7ff96ddb3000-7ff96ddb4000 ---p 00000000 00:00 0 
7ff96ddb4000-7ff96e5b4000 rw-p 00000000 00:00 0 
7ff96e5b4000-7ff96e5b5000 ---p 00000000 00:00 0 
7ff96e5b5000-7ff96edb5000 rw-p 00000000 00:00 0 
7ff96edb5000-7ff96edb6000 ---p 00000000 00:00 0 
7ff96edb6000-7ff96f5b6000 rw-p 00000000 00:00 0 
7ff96f7ff000-7ff96f800000 ---p 00000000 00:00 0 
7ff96f800000-7ff970000000 rw-p 00000000 00:00 0 
7ff970000000-7ff970021000 rw-p 00000000 00:00 0 
7ff970021000-7ff974000000 ---p 00000000 00:00 0 
7ff974571000-7ff974572000 ---p 00000000 00:00 0 
7ff974572000-7ff974d72000 rw-p 00000000 00:00 0 
7ff974d72000-7ff974d73000 ---p 00000000 00:00 0 
7ff974d73000-7ff975573000 rw-p 00000000 00:00 0 
7ff975573000-7ff975574000 ---p 00000000 00:00 0 
7ff975574000-7ff975d74000 rw-p 00000000 00:00 0 
7ff975d74000-7ff975d75000 ---p 00000000 00:00 0 
7ff975d75000-7ff976575000 rw-p 00000000 00:00 0 
7ff976575000-7ff976580000 r-xp 00000000 08:02 3145973                    /lib/x86_64-linux-gnu/libnss_files-2.23.so
7ff976580000-7ff97677f000 ---p 0000b000 08:02 3145973                    /lib/x86_64-linux-gnu/libnss_files-2.23.so
7ff97677f000-7ff976780000 r--p 0000a000 08:02 3145973                    /lib/x86_64-linux-gnu/libnss_files-2.23.so
7ff976780000-7ff976781000 rw-p 0000b000 08:02 3145973                    /lib/x86_64-linux-gnu/libnss_files-2.23.so
7ff976781000-7ff976787000 rw-p 00000000 00:00 0 
7ff976787000-7ff976792000 r-xp 00000000 08:02 3145966                    /lib/x86_64-linux-gnu/libnss_nis-2.23.so
7ff976792000-7ff976991000 ---p 0000b000 08:02 3145966                    /lib/x86_64-linux-gnu/libnss_nis-2.23.so
7ff976991000-7ff976992000 r--p 0000a000 08:02 3145966                    /lib/x86_64-linux-gnu/libnss_nis-2.23.so
7ff976992000-7ff976993000 rw-p 0000b000 08:02 3145966                    /lib/x86_64-linux-gnu/libnss_nis-2.23.so
7ff976993000-7ff9769a9000 r-xp 00000000 08:02 3145971                    /lib/x86_64-linux-gnu/libnsl-2.23.so
7ff9769a9000-7ff976ba8000 ---p 00016000 08:02 3145971                    /lib/x86_64-linux-gnu/libnsl-2.23.so
7ff976ba8000-7ff976ba9000 r--p 00015000 08:02 3145971                    /lib/x86_64-linux-gnu/libnsl-2.23.so
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7ff97fccd000-7ff97fecd000 ---p 001c0000 08:02 3145976                    /lib/x86_64-linux-gnu/libc-2.23.so
7ff97fecd000-7ff97fed1000 r--p 001c0000 08:02 3145976                    /lib/x86_64-linux-gnu/libc-2.23.so
7ff97fed1000-7ff97fed3000 rw-p 001c4000 08:02 3145976                    /lib/x86_64-linux-gnu/libc-2.23.so
7ff97fed3000-7ff97fed7000 rw-p 00000000 00:00 0 
7ff97fed7000-7ff97feed000 r-xp 00000000 08:02 3150445                    /lib/x86_64-linux-gnu/libgcc_s.so.1
7ff97feed000-7ff9800ec000 ---p 00016000 08:02 3150445                    /lib/x86_64-linux-gnu/libgcc_s.so.1
7ff9800ec000-7ff9800ed000 rw-p 00015000 08:02 3150445                    /lib/x86_64-linux-gnu/libgcc_s.so.1
7ff9800ed000-7ff98025f000 r-xp 00000000 08:02 1314899                    /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21
7ff98025f000-7ff98045f000 ---p 00172000 08:02 1314899                    /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21
7ff98045f000-7ff980469000 r--p 00172000 08:02 1314899                    /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21
7ff980469000-7ff98046b000 rw-p 0017c000 08:02 1314899                    /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21
7ff98046b000-7ff98046f000 rw-p 00000000 00:00 0 
7ff98046f000-7ff980472000 r-xp 00000000 08:02 1320571                    /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0
7ff980472000-7ff980671000 ---p 00003000 08:02 1320571                    /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0
7ff980671000-7ff980672000 r--p 00002000 08:02 1320571                    /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0
7ff980672000-7ff980673000 rw-p 00003000 08:02 1320571                    /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0
7ff980673000-7ff980675000 r-xp 00000000 08:02 393367                     /opt/ros/kinetic/lib/libroscpp_serialization.so
7ff980675000-7ff980874000 ---p 00002000 08:02 393367                     /opt/ros/kinetic/lib/libroscpp_serialization.so
7ff980874000-7ff980875000 r--p 00001000 08:02 393367                     /opt/ros/kinetic/lib/libroscpp_serialization.so
7ff980875000-7ff980876000 rw-p 00002000 08:02 393367                     /opt/ros/kinetic/lib/libroscpp_serialization.so
7ff980876000-7ff9808a5000 r-xp 00000000 08:02 393496                     /opt/ros/kinetic/lib/librosconsole.so
7ff9808a5000-7ff980aa5000 ---p 0002f000 08:02 393496                     /opt/ros/kinetic/lib/librosconsole.so
7ff980aa5000-7ff980aa7000 r--p 0002f000 08:02 393496                     /opt/ros/kinetic/lib/librosconsole.so
7ff980aa7000-7ff980aa8000 rw-p 00031000 08:02 393496                     /opt/ros/kinetic/lib/librosconsole.so
7ff980aa8000-7ff980c3a000 r-xp 00000000 08:02 393621                     /opt/ros/kinetic/lib/libroscpp.so
7ff980c3a000-7ff980e39000 ---p 00192000 08:02 393621                     /opt/ros/kinetic/lib/libroscpp.so
7ff980e39000-7ff980e40000 r--p 00191000 08:02 393621                     /opt/ros/kinetic/lib/libroscpp.so
7ff980e40000-7ff980e44000 rw-p 00198000 08:02 393621                     /opt/ros/kinetic/lib/libroscpp.so
7ff980e44000-7ff980e6b000 r-xp 00000000 08:02 4854258                    /home/robotis/catkin_ws/devel/lib/libdynamixel_sdk.so
7ff980e6b000-7ff98106a000 ---p 00027000 08:02 4854258                    /home/robotis/catkin_ws/devel/lib/libdynamixel_sdk.so
7ff98106a000-7ff98106b000 r--p 00026000 08:02 4854258                    /home/robotis/catkin_ws/devel/lib/libdynamixel_sdk.so
7ff98106b000-7ff98106c000 rw-p 00027000 08:02 4854258                    /home/robotis/catkin_ws/devel/lib/libdynamixel_sdk.so
7ff98106c000-7ff98119f000 r-xp 00000000 08:02 4851474                    /home/robotis/catkin_ws/devel/lib/libop3_tuning_module.so
7ff98119f000-7ff98139e000 ---p 00133000 08:02 4851474                    /home/robotis/catkin_ws/devel/lib/libop3_tuning_module.so
7ff98139e000-7ff9813a1000 r--p 00132000 08:02 4851474                    /home/robotis/catkin_ws/devel/lib/libop3_tuning_module.so
7ff9813a1000-7ff9813a8000 rw-p 00135000 08:02 4851474                    /home/robotis/catkin_ws/devel/lib/libop3_tuning_module.so
7ff9813a8000-7ff981688000 r-xp 00000000 08:02 4851476                    /home/robotis/catkin_ws/devel/lib/libop3_online_walking_module.so
7ff981688000-7ff981887000 ---p 002e0000 08:02 4851476                    /home/robotis/catkin_ws/devel/lib/libop3_online_walking_module.so
7ff981887000-7ff98188b000 r--p 002df000 08:02 4851476                    /home/robotis/catkin_ws/devel/lib/libop3_online_walking_module.so
7ff98188b000-7ff981899000 rw-p 002e3000 08:02 4851476                    /home/robotis/catkin_ws/devel/lib/libop3_online_walking_module.so
7ff981899000-7ff9819d5000 r-xp 00000000 08:02 4851470                    /home/robotis/catkin_ws/devel/lib/libop3_direct_control_module.so
7ff9819d5000-7ff981bd4000 ---p 0013c000 08:02 4851470                    /home/robotis/catkin_ws/devel/lib/libop3_direct_control_module.so
7ff981bd4000-7ff981bd6000 r--p 0013b000 08:02 4851470                    /home/robotis/catkin_ws/devel/lib/libop3_direct_control_module.so
7ff981bd6000-7ff981bdd000 rw-p 0013d000 08:02 4851470                    /home/robotis/catkin_ws/devel/lib/libop3_direct_control_module.so
7ff981bdd000-7ff981c8b000 r-xp 00000000 08:02 4851467                    /home/robotis/catkin_ws/devel/lib/libop3_action_module.so
7ff981c8b000-7ff981e8a000 ---p 000ae000 08:02 4851467                    /home/robotis/catkin_ws/devel/lib/libop3_action_module.so
7ff981e8a000-7ff981e8c000 r--p 000ad000 08:02 4851467                    /home/robotis/catkin_ws/devel/lib/libop3_action_module.so
7ff981e8c000-7ff981e90000 rw-p 000af000 08:02 4851467                    /home/robotis/catkin_ws/devel/lib/libop3_action_module.so
7ff981e90000-7ff981f8f000 r-xp 00000000 08:02 4851473                    /home/robotis/catkin_ws/devel/lib/libop3_walking_module.so
7ff981f8f000-7ff98218f000 ---p 000ff000 08:02 4851473                    /home/robotis/catkin_ws/devel/lib/libop3_walking_module.so
7ff98218f000-7ff982191000 r--p 000ff000 08:02 4851473                    /home/robotis/catkin_ws/devel/lib/libop3_walking_module.so
7ff982191000-7ff982197000 rw-p 00101000 08:02 4851473                    /home/robotis/catkin_ws/devel/lib/libop3_walking_module.so
7ff982197000-7ff9822de000 r-xp 00000000 08:02 4851471                    /home/robotis/catkin_ws/devel/lib/libop3_head_control_module.so
7ff9822de000-7ff9824dd000 ---p 00147000 08:02 4851471                    /home/robotis/catkin_ws/devel/lib/libop3_head_control_module.so
7ff9824dd000-7ff9824df000 r--p 00146000 08:02 4851471                    /home/robotis/catkin_ws/devel/lib/libop3_head_control_module.so
7ff9824df000-7ff9824e6000 rw-p 00148000 08:02 4851471                    /home/robotis/catkin_ws/devel/lib/libop3_head_control_module.so
7ff9824e6000-7ff98258d000 r-xp 00000000 08:02 4851468                    /home/robotis/catkin_ws/devel/lib/libop3_base_module.so
7ff98258d000-7ff98278d000 ---p 000a7000 08:02 4851468                    /home/robotis/catkin_ws/devel/lib/libop3_base_module.so
7ff98278d000-7ff98278f000 r--p 000a7000 08:02 4851468                    /home/robotis/catkin_ws/devel/lib/libop3_base_module.so
7ff98278f000-7ff982793000 rw-p 000a9000 08:02 4851468                    /home/robotis/catkin_ws/devel/lib/libop3_base_module.so
7ff982793000-7ff982808000 r-xp 00000000 08:02 4851472                    /home/robotis/catkin_ws/devel/lib/libopen_cr_module.so
7ff982808000-7ff982a08000 ---p 00075000 08:02 4851472                    /home/robotis/catkin_ws/devel/lib/libopen_cr_module.so
7ff982a08000-7ff982a09000 r--p 00075000 08:02 4851472                    /home/robotis/catkin_ws/devel/lib/libopen_cr_module.so
7ff982a09000-7ff982a0c000 rw-p 00076000 08:02 4851472                    /home/robotis/catkin_ws/devel/lib/libopen_cr_module.so
7ff982a0c000-7ff982bc4000 r-xp 00000000 08:02 4851478                    /home/robotis/catkin_ws/devel/lib/librobotis_controller.so
7ff982bc4000-7ff982dc3000 ---p 001b8000 08:02 4851478                    /home/robotis/catkin_ws/devel/lib/librobotis_controller.so
7ff982dc3000-7ff982dc7000 r--p 001b7000 08:02 4851478                    /home/robotis/catkin_ws/devel/lib/librobotis_controller.so
7ff982dc7000-7ff982dd0000 rw-p 001bb000 08:02 4851478                    /home/robotis/catkin_ws/devel/lib/librobotis_controller.so
7ff982dd0000-7ff982df6000 r-xp 00000000 08:02 3145962                    /lib/x86_64-linux-gnu/ld-2.23.so
7ff982f81000-7ff982fa6000 rw-p 00000000 00:00 0 
7ff982fdd000-7ff982ff5000 rw-p 00000000 00:00 0 
7ff982ff5000-7ff982ff6000 r--p 00025000 08:02 3145962                    /lib/x86_64-linux-gnu/ld-2.23.so
7ff982ff6000-7ff982ff7000 rw-p 00026000 08:02 3145962                    /lib/x86_64-linux-gnu/ld-2.23.so
7ff982ff7000-7ff982ff8000 rw-p 00000000 00:00 0 
7ffd965dc000-7ffd965fd000 rw-p 00000000 00:00 0                          [stack]
7ffd967df000-7ffd967e1000 r--p 00000000 00:00 0                          [vvar]
7ffd967e1000-7ffd967e3000 r-xp 00000000 00:00 0                          [vdso]
ffffffffff600000-ffffffffff601000 r-xp 00000000 00:00 0                  [vsyscall]

What could cause this error?

Regards,
George

NUC detects a display only on start-up

NUC can not detect display after power-on.

How to initialize the dynamixel motor settings

Accidentally, I overwrote the servo motor settings with this script:
https://github.com/ROBOTIS-JAPAN-GIT/dynamixel_mikata_arm/blob/master/install.sh
https://github.com/ROBOTIS-JAPAN-GIT/dynamixel_mikata_arm/blob/master/mikata_arm_toolbox/src/dxl_setup.cpp

The main cause seems to be the second program. This program uses dxl_writeAll and dxl_write to change the servo motor settings, so it should overwrite the default motor settings.

Does any of the OP3 repositories have this kind of script which initialize the servo motor setting? Or, is there any document which explain about the parameters which should be set for the motors?

op3 arm joint torque.

Hi,

How can we obtain torque values relating to the arm joints of robotis-op3?

could you please write me 2-3 lines of code?

Thanks

Installing Continuous Integration for OP3 and Thormang3

Because we have no CI (continuous integration) tools, this type of issues happens:
ROBOTIS-GIT/ROBOTIS-OP3-Tools#3

Do we have any plan to use Jenkins or Travis?

For maintaining a humanoid robot software tools, this is a good example repository:
https://github.com/jsk-ros-pkg/jsk_common

Power supply Intel Nuc and OpenCR

Hi,
can someone tell me if the Intel Nuc is powered by the 12V@1A output of the OpenCR Board ?
Would that also work with an Intel Realsense D400 Series camera connected to the Nuc? (or is 12V@1A not enough power?)

Thanks in advance,
Phil

op3 simulation not responding

I am trying the op3 Gazebo simulation. I started roscore in one terminal.
In the rest three terminals, I need to use Python2.7 virtualenv and run the roslaunch commands and attached the output. Other than some warnings (... for same type) and serial port error (which should not affect a simulation), I don't see anything seriously wrong. They all talk to the same master node on local port 11311. But the issue is the simulation is not responding to any demo buttons. I had the simulation worked once but now it no longer works and I don't know how to get it to work again. Please help! Thanks!

#in second terminal
roslaunch op3_gazebo robotis_world.launch



xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
started roslaunch server http://home-desktop:46235/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /robotis_op3/head_pan_position/joint: head_pan
 * /robotis_op3/head_pan_position/pid/d: 0.0
 * /robotis_op3/head_pan_position/pid/i: 0.0
 * /robotis_op3/head_pan_position/pid/p: 5.0
 * /robotis_op3/head_pan_position/type: effort_controller...
 * /robotis_op3/head_tilt_position/joint: head_tilt
 * /robotis_op3/head_tilt_position/pid/d: 0.0
 * /robotis_op3/head_tilt_position/pid/i: 0.0
 * /robotis_op3/head_tilt_position/pid/p: 5.0
 * /robotis_op3/head_tilt_position/type: effort_controller...
 * /robotis_op3/joint_state_controller/publish_rate: 50
 * /robotis_op3/joint_state_controller/type: joint_state_contr...
 * /robotis_op3/l_ank_pitch_position/joint: l_ank_pitch
 * /robotis_op3/l_ank_pitch_position/pid/d: 0.0
 * /robotis_op3/l_ank_pitch_position/pid/i: 0.0
 * /robotis_op3/l_ank_pitch_position/pid/p: 50.0
 * /robotis_op3/l_ank_pitch_position/type: effort_controller...
 * /robotis_op3/l_ank_roll_position/joint: l_ank_roll
 * /robotis_op3/l_ank_roll_position/pid/d: 0.0
 * /robotis_op3/l_ank_roll_position/pid/i: 0.0
 * /robotis_op3/l_ank_roll_position/pid/p: 50.0
 * /robotis_op3/l_ank_roll_position/type: effort_controller...
 * /robotis_op3/l_el_position/joint: l_el
 * /robotis_op3/l_el_position/pid/d: 0.0
 * /robotis_op3/l_el_position/pid/i: 0.0
 * /robotis_op3/l_el_position/pid/p: 10.0
 * /robotis_op3/l_el_position/type: effort_controller...
 * /robotis_op3/l_hip_pitch_position/joint: l_hip_pitch
 * /robotis_op3/l_hip_pitch_position/pid/d: 0.0
 * /robotis_op3/l_hip_pitch_position/pid/i: 0.0
 * /robotis_op3/l_hip_pitch_position/pid/p: 50.0
 * /robotis_op3/l_hip_pitch_position/type: effort_controller...
 * /robotis_op3/l_hip_roll_position/joint: l_hip_roll
 * /robotis_op3/l_hip_roll_position/pid/d: 0.0
 * /robotis_op3/l_hip_roll_position/pid/i: 0.0
 * /robotis_op3/l_hip_roll_position/pid/p: 50.0
 * /robotis_op3/l_hip_roll_position/type: effort_controller...
 * /robotis_op3/l_hip_yaw_position/joint: l_hip_yaw
 * /robotis_op3/l_hip_yaw_position/pid/d: 0.0
 * /robotis_op3/l_hip_yaw_position/pid/i: 0.0
 * /robotis_op3/l_hip_yaw_position/pid/p: 50.0
 * /robotis_op3/l_hip_yaw_position/type: effort_controller...
 * /robotis_op3/l_knee_position/joint: l_knee
 * /robotis_op3/l_knee_position/pid/d: 0.0
 * /robotis_op3/l_knee_position/pid/i: 0.0
 * /robotis_op3/l_knee_position/pid/p: 50.0
 * /robotis_op3/l_knee_position/type: effort_controller...
 * /robotis_op3/l_sho_pitch_position/joint: l_sho_pitch
 * /robotis_op3/l_sho_pitch_position/pid/d: 0.0
 * /robotis_op3/l_sho_pitch_position/pid/i: 0.0
 * /robotis_op3/l_sho_pitch_position/pid/p: 10.0
 * /robotis_op3/l_sho_pitch_position/type: effort_controller...
 * /robotis_op3/l_sho_roll_position/joint: l_sho_roll
 * /robotis_op3/l_sho_roll_position/pid/d: 0.0
 * /robotis_op3/l_sho_roll_position/pid/i: 0.0
 * /robotis_op3/l_sho_roll_position/pid/p: 10.0
 * /robotis_op3/l_sho_roll_position/type: effort_controller...
 * /robotis_op3/r_ank_pitch_position/joint: r_ank_pitch
 * /robotis_op3/r_ank_pitch_position/pid/d: 0.0
 * /robotis_op3/r_ank_pitch_position/pid/i: 0.0
 * /robotis_op3/r_ank_pitch_position/pid/p: 50.0
 * /robotis_op3/r_ank_pitch_position/type: effort_controller...
 * /robotis_op3/r_ank_roll_position/joint: r_ank_roll
 * /robotis_op3/r_ank_roll_position/pid/d: 0.0
 * /robotis_op3/r_ank_roll_position/pid/i: 0.0
 * /robotis_op3/r_ank_roll_position/pid/p: 50.0
 * /robotis_op3/r_ank_roll_position/type: effort_controller...
 * /robotis_op3/r_el_position/joint: r_el
 * /robotis_op3/r_el_position/pid/d: 0.0
 * /robotis_op3/r_el_position/pid/i: 0.0
 * /robotis_op3/r_el_position/pid/p: 10.0
 * /robotis_op3/r_el_position/type: effort_controller...
 * /robotis_op3/r_hip_pitch_position/joint: r_hip_pitch
 * /robotis_op3/r_hip_pitch_position/pid/d: 0.0
 * /robotis_op3/r_hip_pitch_position/pid/i: 0.0
 * /robotis_op3/r_hip_pitch_position/pid/p: 50.0
 * /robotis_op3/r_hip_pitch_position/type: effort_controller...
 * /robotis_op3/r_hip_roll_position/joint: r_hip_roll
 * /robotis_op3/r_hip_roll_position/pid/d: 0.0
 * /robotis_op3/r_hip_roll_position/pid/i: 0.0
 * /robotis_op3/r_hip_roll_position/pid/p: 50.0
 * /robotis_op3/r_hip_roll_position/type: effort_controller...
 * /robotis_op3/r_hip_yaw_position/joint: r_hip_yaw
 * /robotis_op3/r_hip_yaw_position/pid/d: 0.0
 * /robotis_op3/r_hip_yaw_position/pid/i: 0.0
 * /robotis_op3/r_hip_yaw_position/pid/p: 50.0
 * /robotis_op3/r_hip_yaw_position/type: effort_controller...
 * /robotis_op3/r_knee_position/joint: r_knee
 * /robotis_op3/r_knee_position/pid/d: 0.0
 * /robotis_op3/r_knee_position/pid/i: 0.0
 * /robotis_op3/r_knee_position/pid/p: 50.0
 * /robotis_op3/r_knee_position/type: effort_controller...
 * /robotis_op3/r_sho_pitch_position/joint: r_sho_pitch
 * /robotis_op3/r_sho_pitch_position/pid/d: 0.0
 * /robotis_op3/r_sho_pitch_position/pid/i: 0.0
 * /robotis_op3/r_sho_pitch_position/pid/p: 10.0
 * /robotis_op3/r_sho_pitch_position/type: effort_controller...
 * /robotis_op3/r_sho_roll_position/joint: r_sho_roll
 * /robotis_op3/r_sho_roll_position/pid/d: 0.0
 * /robotis_op3/r_sho_roll_position/pid/i: 0.0
 * /robotis_op3/r_sho_roll_position/pid/p: 10.0
 * /robotis_op3/r_sho_roll_position/type: effort_controller...
 * /rosdistro: kinetic
 * /rosversion: 1.12.13
 * /use_sim_time: True

NODES
  /robotis_op3/
    controller_spawner (controller_manager/spawner)
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    urdf_spawner (gazebo_ros/spawn_model)

ROS_MASTER_URI=http://home-desktop:11311/

process[gazebo-1]: started with pid [5211]
process[gazebo_gui-2]: started with pid [5216]
process[urdf_spawner-3]: started with pid [5219]
process[robotis_op3/controller_spawner-4]: started with pid [5222]
[INFO] [1529578037.509655, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
SpawnModel script started
[INFO] [1529578043.565231, 0.000000]: Loading model XML from ros parameter
[INFO] [1529578043.583066, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1529578043.723237049]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1529578043.723843141]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[INFO] [1529578046.000100, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1529578046.384363074]: <robotNamespace> set to: //
[ INFO] [1529578046.384405091]: <topicName> set to: //robotis_op3/imu
[ INFO] [1529578046.384422908]: <frameName> set to: body_link
[ INFO] [1529578046.384458891]: <updateRateHZ> set to: 10
[ INFO] [1529578046.384481482]: <gaussianNoise> set to: 0
[ INFO] [1529578046.384508796]: <xyzOffset> set to: 0 0 0
[ INFO] [1529578046.384550433]: <rpyOffset> set to: 0 -0 0
[INFO] [1529578046.409340, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[urdf_spawner-3] process has finished cleanly
log file: /home/chen/.ros/log/f865344c-753f-11e8-bd81-4ccc6a2535ed/urdf_spawner-3*.log
[ INFO] [1529578048.819407833]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1529578048.872359197]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1529578050.450088569]: Loading gazebo_ros_control plugin
[ INFO] [1529578050.450162271]: Starting gazebo_ros_control plugin in namespace: /robotis_op3
[ INFO] [1529578050.451018701]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.

[ WARN] [1529578050.683675701]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'l_hip_yaw'.
...
[ INFO] [1529578050.867083155]: Loaded gazebo_ros_control.
[INFO] [1529578051.132854, 0.000000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1529578051.134339, 0.000000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1529578051.136048, 0.000000]: Loading controller: joint_state_controller
[INFO] [1529578051.300550, 0.000000]: Loading controller: l_hip_yaw_position
[INFO] [1529578051.359110, 0.000000]: Loading controller: l_hip_roll_position
[INFO] [1529578051.397653, 0.000000]: Loading controller: l_hip_pitch_position
[INFO] [1529578051.438047, 0.000000]: Loading controller: l_knee_position
[INFO] [1529578051.481300, 0.000000]: Loading controller: l_ank_roll_position
[INFO] [1529578051.525466, 0.000000]: Loading controller: l_ank_pitch_position
[INFO] [1529578051.563661, 0.000000]: Loading controller: r_hip_yaw_position
[INFO] [1529578051.607361, 0.000000]: Loading controller: r_hip_roll_position
[INFO] [1529578051.651552, 0.000000]: Loading controller: r_hip_pitch_position
[INFO] [1529578051.696437, 0.000000]: Loading controller: r_knee_position
[INFO] [1529578051.737859, 0.000000]: Loading controller: r_ank_roll_position
[INFO] [1529578051.783136, 0.000000]: Loading controller: r_ank_pitch_position
[INFO] [1529578051.829441, 0.000000]: Loading controller: l_sho_pitch_position
[INFO] [1529578051.870561, 0.000000]: Loading controller: l_sho_roll_position
[INFO] [1529578051.913285, 0.000000]: Loading controller: l_el_position
[INFO] [1529578051.948215, 0.000000]: Loading controller: r_sho_pitch_position
[INFO] [1529578051.985227, 0.000000]: Loading controller: r_sho_roll_position
[INFO] [1529578052.020623, 0.000000]: Loading controller: r_el_position
[INFO] [1529578052.065815, 0.000000]: Loading controller: head_pan_position
[INFO] [1529578052.107381, 0.000000]: Loading controller: head_tilt_position
[INFO] [1529578052.147909, 0.000000]: Controller Spawner: Loaded controllers: joint_state_controller, l_hip_yaw_position, l_hip_roll_position, l_hip_pitch_position, l_knee_position, l_ank_roll_position, l_ank_pitch_position, r_hip_yaw_position, r_hip_roll_position, r_hip_pitch_position, r_knee_position, r_ank_roll_position, r_ank_pitch_position, l_sho_pitch_position, l_sho_roll_position, l_el_position, r_sho_pitch_position, r_sho_roll_position, r_el_position, head_pan_position, head_tilt_position

#in third terminal
roslaunch op3_manager op3_gazebo.launch

ROS_MASTER_URI=http://home-desktop:11311/

process[op3_manager-1]: started with pid [7034]
[ INFO] [1529578258.339327628]: manager->init
[ WARN] [1529578258.365148053]: SET TO GAZEBO MODE!
/dev/ttyUSB0 added. (baudrate: 2000000)
[PortHandlerLinux::SetupPort] Error opening serial port!
(/dev/ttyUSB0) [ID:  1]         XM-430 added. 
(/dev/ttyUSB0) [ID:  2]         XM-430 added. 
(/dev/ttyUSB0) [ID:  3]         XM-430 added. 
(/dev/ttyUSB0) [ID:  4]         XM-430 added. 
(/dev/ttyUSB0) [ID:  5]         XM-430 added. 
(/dev/ttyUSB0) [ID:  6]         XM-430 added. 
(/dev/ttyUSB0) [ID:  7]         XM-430 added. 
(/dev/ttyUSB0) [ID:  8]         XM-430 added. 
(/dev/ttyUSB0) [ID:  9]         XM-430 added. 
(/dev/ttyUSB0) [ID: 10]         XM-430 added. 
(/dev/ttyUSB0) [ID: 11]         XM-430 added. 
(/dev/ttyUSB0) [ID: 12]         XM-430 added. 
(/dev/ttyUSB0) [ID: 13]         XM-430 added. 
(/dev/ttyUSB0) [ID: 14]         XM-430 added. 
(/dev/ttyUSB0) [ID: 15]         XM-430 added. 
(/dev/ttyUSB0) [ID: 16]         XM-430 added. 
(/dev/ttyUSB0) [ID: 17]         XM-430 added. 
(/dev/ttyUSB0) [ID: 18]         XM-430 added. 
(/dev/ttyUSB0) [ID: 19]         XM-430 added. 
(/dev/ttyUSB0) [ID: 20]         XM-430 added. 
(/dev/ttyUSB0) [ID:200]        OPEN-CR added. 
[ WARN] [1529578258.448333359]: Fail to load offset yaml.
[ WARN] [1529578258.785285918]: Head control - angle unit : 35
[ INFO] [1529578259.025127718]: Go to init pose
[ INFO] [1529578259.026752173]: Base Module is enabled
[ INFO] [1529578427.454403091]: Base Module is enabled

#in the fourth terminal
roslaunch op3_gui_demo op3_demo.launch

... logging to /home/chen/.ros/log/f865344c-753f-11e8-bd81-4ccc6a2535ed/roslaunch-home-desktop-7331.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://home-desktop:42078/

SUMMARY
========

PARAMETERS
 * /demo_config: /home/chen/catkin...
 * /rosdistro: kinetic
 * /rosversion: 1.12.13

NODES
  /
    op3_demo_opc (op3_gui_demo/op3_gui_demo)

ROS_MASTER_URI=http://home-desktop:11311/

process[op3_demo_opc-1]: started with pid [7348]
[ INFO] [1529578380.011487246]: Initialized node handle for default demo
[ INFO] [1529578380.023344695]: Initialized node handle for preview walking
[ INFO] [1529578414.106802597]: Go to robot initial pose.
[ INFO] [1529578420.400453653]: Get current Mode
[ INFO] [1529578427.454093042]: Set Mode : head_control_module

Controlling Darwin with a Joystick

Hello,

I am trying to control Darwin Op2 with a joystick and I am having trouble figuring out how to read the input data from the controller. I currently have the controller connected to the computer through an application called jstest-gtk, yet I am not sure how to convert these values into if statements in order to control darwin.

Unable to launch op3_manager on ROBOTIS OP3

Hi!
After packages upgrade on the real OP3 the robot doesn't take initial position.
When I try to launch op3_manager in console there appears an error:

Unable to launch [op3_manager-2]. 
If it is a script, you may be missing a '#!' declaration at the top.
The traceback for the exception was written to the log file

Regards
George

P.S.: buttons on back also stopped to work.

Can not subscribe any topics from a remote PC w/o modifying /etc/hosts

Wi-Fi: ROBOTIS-OP-Share
$ROS_MASTER_URI = http://10.42.0.1:11311
$ROS_IP = 10.42.0.155
$ROS_HOSTNAME = 10.42.0.155

Then, I have to add this line in /etc/hosts:
10.42.0.1 robotis-op3

Without this setting, a remote PC can not communicate with a robot.

Forse Sensor

I look up the Document where force sensor has been mounted at the feet.

And I donot find the module of calculating ZMP from forse sensor.

Walking stability for op3_walking_module

Hi!
I develop custom walking module for ROBOTIS OP3.
In order to check OP3's calibration I've run op3_walking_module.
So I've tried it in on linoleum floor and on the table top.
In both cases the robot falls (it's landing its feet not planar for ground surface).

There is also op3_tuning_module in package with several tune_poses.

So, I got some questions:

May I use op3_tuning_module somehow in order to calibrate OP3's walking?
Is there the way how to set up op3_walking_module achieve a stable walk with it?
How can I calibrate OP3?

Regards,
George

Disable upper body control when walking

Hi,
I'm trying to do the following:
Step 1: OP3 raises its hands using Action Module
Step 2: OP3 walks forward using Walking Module

Raising the hand in Step 1 is ok.
But, when I enable walking module (by publishing "walking_module" to /robotis/enable_ctrl_module), it will cause the hands to go down so that the robot is in walk init position.

So the question is, how can I enable walking module, without affecting the robot's upper body (hands & head)? I vaguely remember that for Darwin and OP2, we can do this by setting the servo offset to a very high number? How can I do this for OP3?

Thanks,
Arif

Direct control module is not enable

Hi!
I'm trying to implement some simple walking algorithm and for this purpose I need to set direct control mode for legs' servos.
So, with Gazebo topics like '/robotis_op3/l_knee_position/command' all work perfectly, but when I try to use op3_manager and corresponding topics here appears an issue: I can't set direct control mode

I'd tried to do this in different ways:

ros::Publisher set_mode_servo = node.advertise<std_msgs::String>("/robotis/set_control_mode", 1000);
std_msgs::String mode_motor;
mode_motor.data = "direct_control_mode"; // direct_control_mode sets corresponding mode in op3_manager
usleep(1000 * 1000); // 1000 msec delay
set_mode_servo.publish(mode_motor);

2)ros::Publisher set_mode_servo = node.advertise<robotis_controller_msgs::JointCtrlModule>("/robotis/set_joint_ctrl_modules",1000);
robotis_controller_msgs::JointCtrlModule jnt_cntr_mdl_msg;

jnt_cntr_mdl_msg.joint_name.resize(12);
jnt_cntr_mdl_msg.module_name.resize(12);

jnt_cntr_mdl_msg.joint_name[0] = "r_hip_yaw";
jnt_cntr_mdl_msg.joint_name[1] = "r_hip_roll";
jnt_cntr_mdl_msg.joint_name[2] = "r_hip_pitch";
jnt_cntr_mdl_msg.joint_name[3] = "r_knee";
jnt_cntr_mdl_msg.joint_name[4] = "r_ank_pitch";
jnt_cntr_mdl_msg.joint_name[5] = "r_ank_roll";

jnt_cntr_mdl_msg.joint_name[6] = "l_hip_yaw";
jnt_cntr_mdl_msg.joint_name[7] = "l_hip_roll";
jnt_cntr_mdl_msg.joint_name[8] = "l_hip_pitch";
jnt_cntr_mdl_msg.joint_name[9] = "l_knee";
jnt_cntr_mdl_msg.joint_name[10] = "l_ank_pitch";
jnt_cntr_mdl_msg.joint_name[11] = "l_ank_roll";

for(int i=0;i<12;i++){
jnt_cntr_mdl_msg.module_name[i] = "direct_control_mode";
}

usleep(1000 * 1000); // 1000 msec delay
set_mode_servo.publish(jnt_cntr_mdl_msg);

But result is the same in all cases, op3_manager submits 'Direct control module is not enable'. Am I doing it right and what messages to what topics need to send for legs motors direct control?

Respectfully yours, George

op3 camera

Hi
How can we run the camera module in gazebo? Is it possible to generate a environment using the op3 camera in gazebo? Thanks

Connection between OpenCR and Intel NUC

Hi,

I'm learning ROS and going to make my own custom robot. It may be OP3-like robot, based on OpenCR & XL-430 (for more economical). Before I buy these items, I would like to know something.

Q: How OpenCR "physically" connect to Intel NUC on OP3?
The picture on e-manual, there's only one USB port for firmware download (not always connect to NUC), right?

CM-740 or OpenCR

Is the OP3 standard controller CM-740 or OpenCR?
Or user choose either?

How can we obtain force values

Hi,

How can we obtain force values relating to the arm joints of robotis-op3?

Is it possible? We see lines relating to force in manager.
Do you have lines of code to measure force.

Thanks

Actuators ID connect to controller openCR and Interface U2D2

Hello,

how must I connect the actuators (servo) with the controller and the Interface U2D2?
Second question: Do I need a U2D2 power hub?

Thank you so much for your help

issue on direct control mode

Hi, Our lab just purchased a Darwin-OP3. However, I have some issues with direct control mode. Here is the video link:. From this video, I have two issues.

From the set joint position control, I only have 'r_sho_pitch', 'l_sho_pitch' changes with time, Other joints should be fixed. But the from the video, you can clearly tell that the joints on the leg moves along the time as well, and so does the 'x_sho_roll'! That's weird.
In the demo walking mode, the joints' behaviour are really impressive, they respond fast and agile. However, when I publish the reference position to 'robotis/direct_control/set_joint_state' in direct control mode, the joints move slow. When I check the joint gain, I think they are large enough (Kp = 800, Ki=0 , Kd=0). I'm thinking maybe there is a safety reason here? I know that the motor is totally capable of fast response. Or I need to directly talking to the motor without ros-manager?
The code I use corresponding to the video is here:

#!/usr/bin/env python
import rospy
from sensor_msgs.msg import JointState
import numpy as np
def pub_head_pan():
    pub = rospy.Publisher('/robotis/direct_control/set_joint_states',JointState,queue_size = 30)
    rospy.init_node('test_joint_node')
    rate = rospy.Rate(50)
    count = 0
    jointstate = JointState()
    jointstate.position = np.zeros(20)
    while not rospy.is_shutdown():
        count = count+1
        print(count)
        desired_position = np.sin(0.01*count)
        jointstate.name = ['r_sho_pitch','l_sho_pitch','r_sho_roll',
        'l_sho_roll','r_el','l_el','r_hip_yaw','l_hip_yaw',
        'r_hip_roll','l_hip_roll','r_hip_pitch','l_hip_pitch',
        'r_knee','l_knee','r_ank_pitch','l_ank_pitch',
        'r_ank_roll','l_ank_roll','head_pan','head_tilt']

        jointstate.position[0]=np.sin(0.02*count)
        jointstate.position[1]=np.cos(0.02*count)
        #jointstate.position[19]=np.cos(0.02*count)
        jointstate.position[10] = 0.505/2
        jointstate.position[11] = -0.505/2
        jointstate.position[12] = -0.505
        jointstate.position[13] = 0.505
        jointstate.position[14] = -0.505/2
        jointstate.position[15] = 0.505/2
        jointstate.velocity = []
        jointstate.effort = []
        pub.publish(jointstate)
        rate.sleep()
if __name__ == '__main__':
    try:
        pub_head_pan()
    except rospy.ROSInterruptException:
        pass

I need to implement our own online walking algorithm, so I need to make sure that the joints of the robot is capable of fast response.
A sample code of yours is going to be really helpful!!!
Hope you can help me.

Best

Yuan

Disable smoothing in direct_control_module

Hi!
Thanks for your previous tip, however a new problem has appeared.
In my walking algorithm I generate joint servos angles with quite little shift and then publish them in corresponding topic.
But when I try to do this in direct control mode there presents some smoothing that disturb correct legs swinging trajectories.
May I somehow disable this smoothing effect?

Best regards,
George

Error Invalid Conversion when catkin_make

I'm trying to install the packages in my Ubuntu 16 ROS Kinetic laptop and find this error when I run catkin_make:
error: invalid conversion from ‘octomap::AbstractOcTree*’ to ‘boost::shared_ptr<octomap::OcTree>::element_type* {aka octomap::OcTree*}’ [-fpermissive]

Here's the longer output:
Scanning dependencies of target ball_detector_node [ 94%] Building CXX object ROBOTIS-OP3-Demo/ball_detector/CMakeFiles/ball_detector_node.dir/src/ball_detector.cpp.o In file included from /usr/include/boost/shared_ptr.hpp:17:0, from /usr/include/boost/format/alt_sstream.hpp:21, from /usr/include/boost/format/internals.hpp:23, from /usr/include/boost/format.hpp:38, from /usr/include/boost/math/policies/error_handling.hpp:31, from /usr/include/boost/math/special_functions/round.hpp:14, from /opt/ros/kinetic/include/ros/time.h:58, from /opt/ros/kinetic/include/ros/ros.h:38, from /home/turtlebot/op3_ws/src/humanoid_navigation/humanoid_localization/include/humanoid_localization/MapModel.h:28, from /home/turtlebot/op3_ws/src/humanoid_navigation/humanoid_localization/src/MapModel.cpp:24: /usr/include/boost/smart_ptr/shared_ptr.hpp: In instantiation of ‘boost::shared_ptr<T>::shared_ptr(Y*) [with Y = octomap::AbstractOcTree; T = octomap::OcTree]’: /usr/include/boost/smart_ptr/shared_ptr.hpp:620:9: required from ‘void boost::shared_ptr<T>::reset(Y*) [with Y = octomap::AbstractOcTree; T = octomap::OcTree]’ /home/turtlebot/op3_ws/src/humanoid_navigation/humanoid_localization/src/MapModel.cpp:275:53: required from here /usr/include/boost/smart_ptr/shared_ptr.hpp:347:47: error: invalid conversion from ‘octomap::AbstractOcTree*’ to ‘boost::shared_ptr<octomap::OcTree>::element_type* {aka octomap::OcTree*}’ [-fpermissive] explicit shared_ptr( Y * p ): px( p ), pn() // Y must be complete ^ humanoid_navigation/humanoid_localization/CMakeFiles/mapmodel.dir/build.make:62: recipe for target 'humanoid_navigation/humanoid_localization/CMakeFiles/mapmodel.dir/src/MapModel.cpp.o' failed make[2]: *** [humanoid_navigation/humanoid_localization/CMakeFiles/mapmodel.dir/src/MapModel.cpp.o] Error 1 CMakeFiles/Makefile2:9971: recipe for target 'humanoid_navigation/humanoid_localization/CMakeFiles/mapmodel.dir/all' failed make[1]: *** [humanoid_navigation/humanoid_localization/CMakeFiles/mapmodel.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... [ 94%] Building CXX object ROBOTIS-OP3-Demo/ball_detector/CMakeFiles/ball_detector_node.dir/src/ball_detector_node.cpp.o [ 95%] Linking CXX executable /home/turtlebot/op3_ws/devel/lib/ball_detector/ball_detector_node [ 95%] Built target ball_detector_node Makefile:138: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j2 -l2" failed
Can anyone point me to what I could have done wrong?

Migrating to catkin build

I sent some PR to fix the build errors of the OP3 packages with catkin build. catkin build is a very common tool which is widely used in the ROS community, so I think we need to make some migration process for our OP3 packages.

Read "Migration Troubleshooting".
http://catkin-tools.readthedocs.io/en/latest/migration.html

question about optimal parameter for turning left and right, side-walking in op3_walking_module

Hi
My project require the robot to turn at the fixed position (or almost fixed position) as well as side-walking . I try to use op3_walking_module to set the yaw angle to do it. However, it behaves really bad. The feet step on each other and the robot is not able to stabilize itself. I see the video that OP3 is totally capable of turning and side walking, May I ask is there any place that I can get the parameters to do the turning and side-walking?
Thanks in advance!!
Best
Yuan

Python example

Is there any examples for programming the OP3 in Python?
I just need a head start to continue exploring.

Magnetometer

I see that the OpenCR has a built-in magnetometer (as well as accelerometer and gyro). How can I get the magnetometer data from OP3's ROS API?

Program stopped running after disconnecting LAN connection to laptop

Hi,
I ran the ROBOTIS_OP3 soccer.cpp program on the robot while connecting it to the laptop via SSH LAN cable. But when the LAN cable is disconnected, the program stopped running. Is there any way to make the program still run even though the LAN cable is disconnected from the robot?
Thank you

Bring_Up Failed

please help me. Why should I do ? Thank You

op3 synchronize motion with bluetooth data

I want to use the OP3 robot as a dancing robot, for transmitting song data using Bluetooth, how to stream songs via Bluetooth and when Bluetooth receives data, the robot will dance

Calculating relative positition and center of mass in op3

op3_link_data_[6]->relative_position_ = robotis_framework::getTransitionXYZ(0.0, 0.09, 0.0);
op3_link_data_[6]->center_of_mass_ = robotis_framework::getTransitionXYZ(0.000, 0.073, 0.000);

How op3 calculate relative position and center of mass? where is the refrence position has taken?

Using foot sensors with op3

Hello again,

I don't know where i can write about CM-530, but i have found small bug (OUT Ports 1-6 didn't works with HIGH value when i set HEX value ...0011, or both LEDs to ON).
I need to connect foot-force sensors to op3, maybe you can tell me more about variables used in balance control (https://github.com/ROBOTIS-GIT/ROBOTIS-OP3/blob/9e306bbfbf769908dab240d09f40208670762bab/op3_balance_control/src/op3_balance_control.cpp)?
At what topic i need to publish data to connect my sensors to balance control?
What type of connection used in thormang3 for foot sensors?
Thanks!

robotis_op.urdf.xacro error

This error is over the OP2 simulation. The catkin_make was error-free. But when trying to launch it with

roslaunch robotis_op_gazebo robotis_op_gazebo_position_control_empty_world.launch

It give the following error. Some similar discussion online suggest there might be a non-ASCII character in the xacro file but I don't see any in gedit and manually download the file again doesn't make a difference so I don't know how to fix it.

Use the following script to fix incorrect usage:
        find . -iname "*.xacro" | xargs sed -i 's#<\([/]\?\)\(if\|unless\|include\|arg\|property\|macro\|insert_block\)#<\1xacro:\2#g'
when processing file: /home/chen/catkin_ws/src/robotis_op_common/robotis_op_description/robots/robotis_op.urdf.xacro

Property names must be valid python identifiers: lb-in-in_kg-m-m None None
when processing file: /home/chen/catkin_ws/src/robotis_op_common/robotis_op_description/robots/robotis_op.urdf.xacro
Invalid <param> tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/share/xacro/xacro.py '/home/chen/catkin_ws/src/robotis_op_common/robotis_op_description/robots/robotis_op.urdf.xacro'] returned with code [2]. 

Param xml is <param command="$(find xacro)/xacro.py '$(find robotis_op_description)/robots/robotis_op.urdf.xacro'" name="robot_description"/>
The traceback for the exception was written to the log file

I was trying to locate the roslaunch log file without luck. If you need the log file, just let me know where it is and I will upload it.

cd $ROS_ROOT/log
bash: cd: /opt/ros/kinetic/share/ros/log: No such file or directory

Thanks for your help