Dynamixel controller joint/state publisher stops working

asked 2013-12-25 22:36:59 -0500

unais gravatar image

I am created a dynamixel controller in ROS .

Then I launch controller_manager.launch

after some time(1/2 minuts) It gives the following error message

[INFO] [WallTime: 1388053380.239828] dynamixel_port: Found 7 motors - 1 MX-106 [3], 3 MX-28 [0, 5, 6], 3 MX-64 [1, 2, 4], initialization complete.
Exception in thread Thread-5:
Traceback (most recent call last):
  File "/usr/lib/python2.7/threading.py", line 551, in __bootstrap_inner
  File "/usr/lib/python2.7/threading.py", line 504, in run
    self.__target(*self.__args, **self.__kwargs)
  File "        /opt/ros/groovy/stacks/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_    serial_proxy.py", line 221, in __update_motor_states
    state = self.dxl_io.get_feedback(motor_id)
  File "    /opt/ros/groovy/stacks/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_    io.py", line 849, in get_feedback
    self.exception_on_error(response[4], servo_id, 'fetching full servo status')
  File "    /opt/ros/groovy/stacks/dynamixel_motor/dynamixel_driver/src/dynamixel_driver/dynamixel_    io.py", line 883, in exception_on_error
    if not error_code & DXL_OVERHEATING_ERROR == 0:
TypeError: unsupported operand type(s) for &: 'float' and 'int'

If this happen then /joint_controller/state stops publishing .. But /joint6_controller/command works if send joint values.

What may be the problems

Thanks in Advance

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