uArm Serial No.: (the No. at the bottom of each uArm reading “UARM-XXXXXXXXXX”)
Firmware Version: 2.2.1
Operation System: Linux
uArm Controlling Method: Python (pyuarm 2.2.5.3)
I am using UArmForROS package to control UArm using ROS with Rviz. I have installed everything needed. And was able to connect with UArm Metal. But when I try to launch:
roslaunch uarm display.launch
This output keeps showing up.
... logging to /home/tulga/.ros/log/60de777c-7081-11e8-b023-5c5f67a1aed7/roslaunch-tulga-ThinkPad-X1-Carbon-6th-25266.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://tulga-ThinkPad-X1-Carbon-6th:42929/
SUMMARY
========
PARAMETERS
* /robot_description: <?xml version="1....
* /rosdistro: kinetic
* /rosversion: 1.12.13
NODES
/
read_angles (uarm/report_angles_node.py)
robot_state_publisher (robot_state_publisher/state_publisher)
state_publisher (uarm/visual_display.py)
ROS_MASTER_URI=http://localhost:11311
process[robot_state_publisher-1]: started with pid [25288]
process[read_angles-2]: started with pid [25289]
process[state_publisher-3]: started with pid [25291]
begin
==========================================
ERROR: Exectuion error. Input numbers only
ERROR: Input Incorrect
ERROR: 3 options for print angles
ERROR: 1: Input nothing after report_anlges_node.py (example: rosrun uarm report_angles_node.py)
ERROR: 2: Input how many times to print (example: rosrun uarm report_angles_node.py 12)
ERROR: 3: Input times and time_sec between each times (example: rosrun uarm report_angles_node.py 12 2)
[read_angles-2] process has finished cleanly
log file: /home/tulga/.ros/log/60de777c-7081-11e8-b023-5c5f67a1aed7/read_angles-2*.log
Traceback (most recent call last):
File "/home/tulga/catkin_ws/src/UArmForROS/visualization/visual_display.py", line 59, in <module>
main_fcn()
File "/home/tulga/catkin_ws/src/UArmForROS/visualization/visual_display.py", line 42, in main_fcn
angle['s1'] = rospy.get_param('servo_1')*math.pi/180
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/client.py", line 465, in get_param
return _param_server[param_name] #MasterProxy does all the magic for us
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/msproxy.py", line 123, in __getitem__
raise KeyError(key)
KeyError: 'servo_1'
[state_publisher-3] process has died [pid 25291, exit code 1, cmd /home/tulga/catkin_ws/src/UArmForROS/visualization/visual_display.py __name:=state_publisher __log:=/home/tulga/.ros/log/60de777c-7081-11e8-b023-5c5f67a1aed7/state_publisher-3.log].
log file: /home/tulga/.ros/log/60de777c-7081-11e8-b023-5c5f67a1aed7/state_publisher-3*.log
Also I tried to monitor outputs with monitor mode
=======================================================
Connecting ...
=======================================================
pyuarm - INFO - pyuarm version: 2.2.5.3
pyuarm - INFO - Connecting from port - /dev/ttyUSB0...
pyuarm - INFO - Connected...
pyuarm - INFO - Firmware Version: 2.2.1
Connected
Input Commands (Input h to see all commands): e
Exit: Break the control fuction loop
Begin monitor mode - listening to all fucntional topics
=======================================================
Use rqt_graph to check the connection
=======================================================
[ERROR] [1529057403.911022]: bad callback: <function readAnglesCallback at 0x7f1f41b15ed8>
Traceback (most recent call last):
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/topics.py", line 750, in _invoke_callback
cb(msg)
File "/home/tulga/catkin_ws/src/UArmForROS/scripts/uarm_core.py", line 420, in readAnglesCallback
readCurrentAngles()
File "/home/tulga/catkin_ws/src/UArmForROS/scripts/uarm_core.py", line 49, in readCurrentAngles
ra['s1'] = uarm.read_servo_angle(0,1)
AttributeError: 'UArm' object has no attribute 'read_servo_angle'
[ERROR] [1529057403.915763]: bad callback: <function readAnglesCallback at 0x7f1f41b15ed8>
Traceback (most recent call last):
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/topics.py", line 750, in _invoke_callback
cb(msg)
File "/home/tulga/catkin_ws/src/UArmForROS/scripts/uarm_core.py", line 420, in readAnglesCallback
readCurrentAngles()
File "/home/tulga/catkin_ws/src/UArmForROS/scripts/uarm_core.py", line 49, in readCurrentAngles
ra['s1'] = uarm.read_servo_angle(0,1)
AttributeError: 'UArm' object has no attribute 'read_servo_angle'
[ERROR] [1529057403.917028]: bad callback: <function attchCallback at 0x7f1f41b15c80>
Traceback (most recent call last):
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/topics.py", line 750, in _invoke_callback
cb(msg)
File "/home/tulga/catkin_ws/src/UArmForROS/scripts/uarm_core.py", line 350, in attchCallback
uarm.detach_all_servos()
AttributeError: 'UArm' object has no attribute 'detach_all_servos'
Why this error keeps showing up? Please help me.