odrive_botwheel_explorer not example not launching

[ErikParkerrr]

Hi All,

I've followed the tutorial to a T and I can't get the example to launch. Here's the command output. Not sure were to start debugging.

ros2 launch odrive_botwheel_explorer botwheel_explorer.launch.py

[INFO] [launch]: All log files can be found below /home/cheeseisgood/.ros/log/2024-04-03-16-46-38-317048-cheeseisgood-33622
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [33627]
[INFO] [robot_state_publisher-2]: process started with pid [33629]
[INFO] [spawner-3]: process started with pid [33631]
[ros2_control_node-1] [WARN] [1712177198.651331475] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[ros2_control_node-1] [INFO] [1712177198.651459169] [resource_manager]: Loading hardware 'DiffBot' 
[ros2_control_node-1] [INFO] [1712177198.651799762] [resource_manager]: Initialize hardware 'DiffBot' 
[ros2_control_node-1] [INFO] [1712177198.651817339] [resource_manager]: Successful initialization of hardware 'DiffBot'
[ros2_control_node-1] [INFO] [1712177198.651834765] [resource_manager]: 'configure' hardware 'DiffBot' 
[ros2_control_node-1] [INFO] [1712177198.651837688] [resource_manager]: Successful 'configure' of hardware 'DiffBot'
[ros2_control_node-1] [INFO] [1712177198.651839522] [resource_manager]: 'activate' hardware 'DiffBot' 
[ros2_control_node-1] [INFO] [1712177198.651841499] [resource_manager]: Successful 'activate' of hardware 'DiffBot'
[robot_state_publisher-2] Warning: link 'base_link' material 'orange' undefined.
[robot_state_publisher-2]          at line 84 in ./urdf_parser/src/model.cpp
[robot_state_publisher-2] Warning: link 'base_link' material 'orange' undefined.
[robot_state_publisher-2]          at line 84 in ./urdf_parser/src/model.cpp
[robot_state_publisher-2] Warning: link 'left_wheel' material 'black' undefined.
[robot_state_publisher-2]          at line 84 in ./urdf_parser/src/model.cpp
[robot_state_publisher-2] Warning: link 'left_wheel' material 'black' undefined.
[robot_state_publisher-2]          at line 84 in ./urdf_parser/src/model.cpp
[robot_state_publisher-2] Warning: link 'right_wheel' material 'black' undefined.
[robot_state_publisher-2]          at line 84 in ./urdf_parser/src/model.cpp
[robot_state_publisher-2] Warning: link 'right_wheel' material 'black' undefined.
[robot_state_publisher-2]          at line 84 in ./urdf_parser/src/model.cpp
[robot_state_publisher-2] Warning: link 'caster_frontal_wheel' material 'white' undefined.
[robot_state_publisher-2]          at line 84 in ./urdf_parser/src/model.cpp
[robot_state_publisher-2] Warning: link 'caster_frontal_wheel' material 'white' undefined.
[robot_state_publisher-2]          at line 84 in ./urdf_parser/src/model.cpp
[robot_state_publisher-2] Warning: link 'caster_rear_wheel' material 'white' undefined.
[robot_state_publisher-2]          at line 84 in ./urdf_parser/src/model.cpp
[robot_state_publisher-2] Warning: link 'caster_rear_wheel' material 'white' undefined.
[robot_state_publisher-2]          at line 84 in ./urdf_parser/src/model.cpp
[robot_state_publisher-2] [WARN] [1712177198.654839431] [kdl_parser]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-2] [INFO] [1712177198.654897803] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1712177198.654930252] [robot_state_publisher]: got segment caster_frontal_wheel
[robot_state_publisher-2] [INFO] [1712177198.654934204] [robot_state_publisher]: got segment caster_rear_wheel
[robot_state_publisher-2] [INFO] [1712177198.654937074] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-2] [INFO] [1712177198.654939807] [robot_state_publisher]: got segment right_wheel
[ros2_control_node-1] [INFO] [1712177198.654882331] [controller_manager]: update rate is 10 Hz
[ros2_control_node-1] [INFO] [1712177198.655008798] [controller_manager]: RT kernel is recommended for better performance
[ros2_control_node-1] [INFO] [1712177199.013604677] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-3] [INFO] [1712177199.183626881] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ros2_control_node-1] [INFO] [1712177199.185530259] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ros2_control_node-1] [INFO] [1712177199.185752589] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[ros2_control_node-1] [ERROR] [1712177199.355244449] [joint_state_broadcaster]: None of requested interfaces exist. Controller will not run.
[ros2_control_node-1] [WARN] [1712177199.355329402] [joint_state_broadcaster]: Error occurred while doing error handling.
[ros2_control_node-1] [ERROR] [1712177199.356024072] [controller_manager]: After activation, controller 'joint_state_broadcaster' is in state 'unconfigured' (1), expected 'active' (3).
[spawner-3] [INFO] [1712177199.456441019] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[INFO] [spawner-3]: process has finished cleanly [pid 33631]
[INFO] [spawner-4]: process started with pid [33710]
[ros2_control_node-1] [INFO] [1712177200.596461017] [controller_manager]: Loading controller 'botwheel_explorer'
[spawner-4] [INFO] [1712177200.683938615] [spawner_botwheel_explorer]: Loaded botwheel_explorer
[ros2_control_node-1] [INFO] [1712177200.685364848] [controller_manager]: Configuring controller 'botwheel_explorer'
[ros2_control_node-1] [ERROR] [1712177200.757078482] [resource_manager]: Not acceptable command interfaces combination: 
[ros2_control_node-1] Start interfaces: 
[ros2_control_node-1] [
[ros2_control_node-1]   left_wheel_joint/velocity
[ros2_control_node-1]   right_wheel_joint/velocity
[ros2_control_node-1] ]
[ros2_control_node-1] Stop interfaces: 
[ros2_control_node-1] [
[ros2_control_node-1] ]
[ros2_control_node-1] Not existing: 
[ros2_control_node-1] [
[ros2_control_node-1]  left_wheel_joint/velocity
[ros2_control_node-1]  right_wheel_joint/velocity
[ros2_control_node-1] ]
[ros2_control_node-1] 
[ros2_control_node-1] [ERROR] [1712177200.757126158] [controller_manager]: Could not switch controllers since prepare command mode switch was rejected.
[spawner-4] [ERROR] [1712177200.757756134] [spawner_botwheel_explorer]: Failed to activate controller
[ERROR] [spawner-4]: process has died [pid 33710, exit code 1, cmd '/opt/ros/iron/lib/controller_manager/spawner botwheel_explorer --controller-manager /controller_manager --ros-args'].
^C^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) again, ignoring...
[ros2_control_node-1] [INFO] [1712177209.200087951] [rclcpp]: signal_handler(signum=2)
[ros2_control_node-1] [INFO] [1712177209.201523853] [rclcpp]: signal_handler(signum=2)
[robot_state_publisher-2] [INFO] [1712177209.200054183] [rclcpp]: signal_handler(signum=2)
[robot_state_publisher-2] [INFO] [1712177209.201516011] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-2]: process has finished cleanly [pid 33629]
[INFO] [ros2_control_node-1]: process has finished cleanly [pid 33627]`

[anthonywebb]

Can you verify that your canbus interface is properly configured and working?

[ErikParkerrr]

Can you verify that your canbus interface is properly configured and working?

Yes it is working. However, I have mock hardware enabled so it shouldn't matter, correct? I should've mentioned that above, sorry.

[anthonywebb]

I’m not sure that the mock hardware has ever been tested. We have only used physical hardware.

[ErikParkerrr]

That was it. I guess the mock hardware is still WIP. Thanks!