YRC1000 + HC10: no connection with Agent

[ojindal]

Hi,

I have an HC10 + YRC1000 setup and to make it work with ROS2 drivers, I followed the instructions on this page for MotoROS2: https://github.com/yaskawa-global/motoros2 and was not able to print the list of nodes as mentioned under
'Verifying successful installation' on the webpage (I am running the agent by building from source ~ using ROS2 Humble).

I put four files (mr2_yrc1_h.out, IONAME.DAT, INIT_ROS.JBI, and motoros2_config.yaml) in a USB to mount on the teach pendant as instructed on the repository. Please let me know your suggestions, also attaching the yaml file (converted to JSON for uploading purposes) if there are any mistakes in that.

Thanks!
yaml_inJsonForm.JSON

[ted-miller]

Hi @ojindal
Can you post the complete output of the debug log client? Please start the client prior to booting the robot so that we see all the startup messages.

Also, a copy of the PANELBOX.LOG file from your teach pendant would be helpful.

[ojindal]

This is what I get on the terminal when I start the agent (via docker image) for the first time after restarting the controller, along with an alarm on the teach pendant: 8003 (photo attached):

Click to expand

roboteon@roboteon-Lenovo-YOGA910-13IKB:~$ docker run   -it   --rm   --net=host   --user=$(id -u):$(id -g)   microros/micro-ros-agent:humble     udp4     --port 8888
[1724888075.057449] info     | UDPv4AgentLinux.cpp | init                     | running...             | port: 8888
[1724888075.057664] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4
[1724888076.821686] info     | ProxyClient.cpp    | ProxyClient              | session hard timeout enabled | client_key: 0x799B43F1, timeout: 10000 ms
[1724888076.821745] info     | Root.cpp           | create_client            | create                 | client_key: 0x799B43F1, session_id: 0x81
[1724888076.821830] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x799B43F1, address: 192.168.1.31:49662
[1724888076.856969] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x799B43F1, participant_id: 0x000(1)
[1724888087.472647] info     | Root.cpp           | delete_client            | delete                 | client_key: 0x799B43F1
[1724888087.472715] info     | SessionManager.hpp | destroy_session          | session closed         | client_key: 0x799B43F1, address: 192.168.1.31:49662
[1724888087.472738] info     | Processor.cpp      | check_heartbeats         | Session destroyed due to liveliness timeout | client_key: 0x799B43F1, address: 192.168.1.31:49662
^C[ros2run]: Interrupt

Alarm:

Click to expand

[gavanderhoorn]

Ok, that's progress.

Could you perhaps let us know how you build the Agent from source, which version, etc? I'm a bit confused using the Docker image suddenly made things work.

re: alarm: that's documented in the troubleshooting guide: Alarm: 8003[11].

In the event of that alarm, MotoROS2 disconnects from the Agent, hence the session timeout you show.

Could you please include debug logs every time you test something? Make sure to have started the debug listener script before starting your controller and just keep it running.

---

Edit: and please confirm you're using ROS Humble again on your ROS PC and have installed the Humble version of MR2 on your YRC1000.

[ojindal]

The issue persists.

I did follow the mentioned instructions on the page. Tried it for both Humble (PC running Ubuntu 22.04) and Foxy (PC running Ubuntu 20.04)

And for the docker, I followed these instructions for the humble version. Running it on Ubuntu 20.04 PC (It does have ros2 foxy installed on it but I believe it shouldn't affect the docker running Humble).

This is what I get in the terminal when I run the docker container:

roboteon@roboteon-Lenovo-YOGA910-13IKB:~$ docker run   -it   --rm   --net=host   --user=$(id -u):$(id -g)   microros/micro-ros-agent:humble     udp4     --port 8888
[1724955099.916988] info     | UDPv4AgentLinux.cpp | init                     | running...             | port: 8888
[1724955099.917217] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4
[1724955496.990199] info     | ProxyClient.cpp    | ProxyClient              | session hard timeout enabled | client_key: 0x799B43F1, timeout: 10000 ms
[1724955496.990272] info     | Root.cpp           | create_client            | create                 | client_key: 0x799B43F1, session_id: 0x81
[1724955496.990397] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x799B43F1, address: 192.168.1.31:12741
[1724955497.030997] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x799B43F1, participant_id: 0x000(1)
[1724955507.695329] info     | Root.cpp           | delete_client            | delete                 | client_key: 0x799B43F1
[1724955507.695415] info     | SessionManager.hpp | destroy_session          | session closed         | client_key: 0x799B43F1, address: 192.168.1.31:12741
[1724955507.695443] info     | Processor.cpp      | check_heartbeats         | Session destroyed due to liveliness timeout | client_key: 0x799B43F1, address: 192.168.1.31:12741

I get the same alarm (8003[11]) every time I restart the controller when this docker is running. Also, I tried to start a new terminal session inside the same container, sourced and all, still not able to see anything with 'ros2 node list'. For more information, I have attached PANELBOX.LOG and the logs saved by running debug_listener.py.
20240829T111648_motoros2_debug_log.txt
PANELBOX.LOG

I appreciate all of you for your responsiveness and help so far! Please let me know if you have any suggestions further.

[gavanderhoorn]

The issue persists.

that is expected I believe.

According to the alarm, your YRC1000 controller has the conveyor tracking option installed.

Your PANELBOX.LOG also shows this:

ACP02#1  1.06-00, 1.00-00,16121000,CONVEYOR TRACKING

That's incompatible with HC robots according to the troubleshooting text, hence the alarm.

As mentioned in the troubleshooting information for that specific alarm:

Please contact Yaskawa technical support to have Conveyor Tracking function disabled.

You'll have to reach out to your Yaskawa branch office and ask them for support.

After the conveyor tracking option has been disabled, it's likely MotoROS2 will work correctly.

[gavanderhoorn]

@ojindal: have you been able to get things to work?

[ojindal]

Hi @ted-miller ,

As per our call, this is the txt file generated from the debug script:

Click to expand

[2024-09-09 15:57:56.966800] [192.168.1.31:53156]: ---
[2024-09-09 15:57:56.967000] [192.168.1.31:53156]: MotoROS2 0.1.3 - boot
[2024-09-09 15:57:56.967000] [192.168.1.31:53156]: M+ libmicroros version: 'humble-20240710'
[2024-09-09 15:57:56.967200] [192.168.1.31:53156]: PlatformLib version: 0.2.12
[2024-09-09 15:57:57.021600] [192.168.1.31:53156]: No new configuration file found on CN102 USB drive.
[2024-09-09 15:57:57.021600] [192.168.1.31:53156]: Checking configuration file: motoros2_config.yaml
[2024-09-09 15:57:57.263000] [192.168.1.31:53156]: Ros_ConfigFile_HostOnNetworkInterface: checking '192.168.1.41' on iface 1
[2024-09-09 15:57:57.263000] [192.168.1.31:53156]: Ros_ConfigFile_HostOnNetworkInterface: exit: on network: true
[2024-09-09 15:57:57.263200] [192.168.1.31:53156]: UserLan monitor enabled, checking port setting ..
[2024-09-09 15:57:57.263200] [192.168.1.31:53156]: Ros_ConfigFile_HostOnNetworkInterface: checking '192.168.1.41' on iface 1
[2024-09-09 15:57:57.263400] [192.168.1.31:53156]: Ros_ConfigFile_HostOnNetworkInterface: exit: on network: true
[2024-09-09 15:57:57.263400] [192.168.1.31:53156]: UserLan monitor auto-detect port: 1
[2024-09-09 15:57:57.263400] [192.168.1.31:53156]: Config: ros_domain_id = 0
[2024-09-09 15:57:57.263400] [192.168.1.31:53156]: Config: node_name = 'motoman_9b_43_f1'
[2024-09-09 15:57:57.263400] [192.168.1.31:53156]: Config: node_namespace = ''
[2024-09-09 15:57:57.263800] [192.168.1.31:53156]: Config: remap_rules = ''
[2024-09-09 15:57:57.263800] [192.168.1.31:53156]: Config: agent_ip_address = '192.168.1.41'
[2024-09-09 15:57:57.263800] [192.168.1.31:53156]: Config: agent_port_number = '8888'
[2024-09-09 15:57:57.263800] [192.168.1.31:53156]: Config: sync_timeclock_with_agent = 1
[2024-09-09 15:57:57.264000] [192.168.1.31:53156]: Config: namespace_tf = 1
[2024-09-09 15:57:57.264000] [192.168.1.31:53156]: Config: publish_tf = 1
[2024-09-09 15:57:57.264000] [192.168.1.31:53156]: List of configured joint names:
[2024-09-09 15:57:57.264200] [192.168.1.31:53156]: ---
[2024-09-09 15:57:57.264200] [192.168.1.31:53156]: x
[2024-09-09 15:57:57.264200] [192.168.1.31:53156]: x
[2024-09-09 15:57:57.264200] [192.168.1.31:53156]: x
[2024-09-09 15:57:57.267000] [192.168.1.31:53156]: x
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[2024-09-09 15:57:57.267200] [192.168.1.31:53156]: x
[2024-09-09 15:57:57.267200] [192.168.1.31:53156]: ---
[2024-09-09 15:57:57.267400] [192.168.1.31:53156]: x
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[2024-09-09 15:57:57.268600] [192.168.1.31:53156]: x
[2024-09-09 15:57:57.268600] [192.168.1.31:53156]: ---
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[2024-09-09 15:57:57.269600] [192.168.1.31:53156]: ---
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[2024-09-09 15:57:57.272000] [192.168.1.31:53156]: ---
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[2024-09-09 15:57:57.272400] [192.168.1.31:53156]: ---
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[2024-09-09 15:57:57.273400] [192.168.1.31:53156]: ---
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[2024-09-09 15:57:57.274000] [192.168.1.31:53156]: ---
[2024-09-09 15:57:57.276200] [192.168.1.31:53156]: x
[2024-09-09 15:57:57.276200] [192.168.1.31:53156]: x
[2024-09-09 15:57:57.276400] [192.168.1.31:53156]: x
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[2024-09-09 15:57:57.276600] [192.168.1.31:53156]: x
[2024-09-09 15:57:57.276600] [192.168.1.31:53156]: ---
[2024-09-09 15:57:57.276600] [192.168.1.31:53156]: Config: logging.log_to_stdout = 0
[2024-09-09 15:57:57.277200] [192.168.1.31:53156]: Config: update_periods.executor_sleep_period = 10
[2024-09-09 15:57:57.277400] [192.168.1.31:53156]: Config: update_periods.action_feedback_publisher_period = 20
[2024-09-09 15:57:57.277400] [192.168.1.31:53156]: Config: update_periods.controller_status_monitor_period = 10
[2024-09-09 15:57:57.277600] [192.168.1.31:53156]: Config: publisher_qos.robot_status = 'sensor_data'
[2024-09-09 15:57:57.277600] [192.168.1.31:53156]: Config: publisher_qos.joint_states = 'sensor_data'
[2024-09-09 15:57:57.277600] [192.168.1.31:53156]: Config: publisher_qos.tf = 'default'
[2024-09-09 15:57:57.277600] [192.168.1.31:53156]: Config: tf_frame_prefix = ''
[2024-09-09 15:57:57.277600] [192.168.1.31:53156]: Config: stop_motion_on_disconnect = 1
[2024-09-09 15:57:57.277800] [192.168.1.31:53156]: Config: inform_job_name = 'INIT_ROS'
[2024-09-09 15:57:57.277800] [192.168.1.31:53156]: Config: allow_custom_inform_job = 0
[2024-09-09 15:57:57.277800] [192.168.1.31:53156]: Config: userlan_monitor_enabled = 1
[2024-09-09 15:57:57.277800] [192.168.1.31:53156]: Config: userlan_monitor_port = 1
[2024-09-09 15:57:57.277800] [192.168.1.31:53156]: Config: ignore_missing_calib_data = 0
[2024-09-09 15:57:57.278000] [192.168.1.31:53156]: Waiting for robot alarms to clear...
[2024-09-09 15:57:59.779000] [192.168.1.31:53156]: RMW settings 1: 1000; 0; 1000; 256; 256; 512
[2024-09-09 15:57:59.779000] [192.168.1.31:53156]: RMW settings 2: 1; 1; 30; 15; 30; 1; -1
[2024-09-09 15:57:59.779200] [192.168.1.31:53156]: RMW settings 3: 60; 120; 100; 100
[2024-09-09 15:57:59.779200] [192.168.1.31:53156]: Using ROS domain ID: 0
[2024-09-09 15:57:59.779200] [192.168.1.31:53156]: Using client key: 0x799B43F1
[2024-09-09 15:57:59.779200] [192.168.1.31:53156]: Attempting to connect to micro-ROS PC Agent (at udp://192.168.1.41:8888)
[1970-01-01 00:00:00.000000] [192.168.1.31:53156]: Found micro-ROS PC Agent
[2024-09-09 15:58:13.193200] [192.168.1.31:53156]: rclc_support_init_with_options = 0
[2024-09-09 15:58:13.193200] [192.168.1.31:53156]: remap_rules str: ''
[2024-09-09 15:58:13.195200] [192.168.1.31:53156]: len(remap_rules str): 0
[2024-09-09 15:58:13.195200] [192.168.1.31:53156]: num parsed remap rules: 0
[2024-09-09 15:58:13.195200] [192.168.1.31:53156]: faux argc: 2
[2024-09-09 15:58:13.195400] [192.168.1.31:53156]: rcl_parse_arguments = 0
[2024-09-09 15:58:13.208600] [192.168.1.31:53156]: rclc_node_init_with_options = 0
[2024-09-09 15:58:13.208800] [192.168.1.31:53156]: Ros_Communication_Initialize(..):comm_exec_init: memory free: 1045912 bytes, delta: -776
[2024-09-09 15:58:13.208800] [192.168.1.31:53156]: Initializing controller
[2024-09-09 15:58:13.208800] [192.168.1.31:53156]: System has PFL Enabled
[2024-09-09 15:58:13.209000] [192.168.1.31:53156]: Number of motion groups: 1 (max supported: 8)

This is what I see in the terminal where I am trying to run the docker (humble):

roboteonorish@roboteonorish-XPS-9315:~$ docker run \
  -it \
  --rm \
  --net=host \
  --user=$(id -u):$(id -g) \
  microros/micro-ros-agent:humble \
    udp4 \
    --port 8888
[1725911753.893016] info     | UDPv4AgentLinux.cpp | init                     | running...             | port: 8888
[1725911753.893252] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4
[1725911755.536500] info     | ProxyClient.cpp    | ProxyClient              | session hard timeout enabled | client_key: 0x799B43F1, timeout: 10000 ms
[1725911755.536561] info     | Root.cpp           | create_client            | create                 | client_key: 0x799B43F1, session_id: 0x81
[1725911755.536661] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x799B43F1, address: 192.168.1.31:2265
[1725911755.551308] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x799B43F1, participant_id: 0x000(1)
[1725911766.315744] info     | Root.cpp           | delete_client            | delete                 | client_key: 0x799B43F1
[1725911766.315839] info     | SessionManager.hpp | destroy_session          | session closed         | client_key: 0x799B43F1, address: 192.168.1.31:2265
[1725911766.315864] info     | Processor.cpp      | check_heartbeats         | Session destroyed due to liveliness timeout | client_key: 0x799B43F1, address: 192.168.1.31:2265

CMOS file:
CMOS.zip

Alarm history file:
ALMHIST.zip

[ted-miller]

As we discussed, please follow this:

https://github.com/Yaskawa-Global/motoros2/blob/main/doc/troubleshooting.md#alarm-49974

[ted-miller]

Here are the parameters that it is attempting to automatically enable
https://wiki.ros.org/motoman_driver/Troubleshooting#Not_receiving_axis_speeds_from_robot_controller

[ojindal]

This the new debug log:

20240909T133946_motoros2_debug_log.txt

[ted-miller]

Here are the exact commands that I use:

In one terminal:

sudo docker run \
  -it \
  --rm \
  --net=host \
  microros/micro-ros-agent:humble \
    udp4 \
    --port 8888

Then in another:

sudo docker run -it -v /home/ted:/home/ted --net=host ros:humble
source /opt/ros/humble/setup.bash
cd /home/ted/ws_streamtest

[ojindal]

sudo docker run -it -v /home/roboteonorish/HumleDocker:/home/roboteonorish/HumleDocker --net=host ros:humble
source /opt/ros/humble/setup.bash
cd /home/roboteonorish/HumleDocker/ws

[gavanderhoorn]

Just an observation: I would not recommend mounting your complete home directory into a Docker container. You're also mounting it as the root user. This will likely/probably lead to permission issues.

[ojindal]

@ted-miller , @gavanderhoorn
Things are working as expected, thank you so much for your help!