Dynamixel A12 tutorial: controller dies

edit

Hey there,

I've started going through dynamixel tutorials ( http://wiki.ros.org/dynamixel_control... ). Now I'm in this one (roslaunch my_dynamixel_tutorial start_tilt_controller.launch) The tilt controller is dying and not giving info about why. This are the steps:

1) I've launched the manager properly:

`

 $ roslaunch dynamixel_tutorials

 SUMMARY
 ========

 PARAMETERS  *
 /dynamixel_manager/namespace:
 dxl_manager  *
 /dynamixel_manager/serial_ports/pan_tilt_port/baud_rate:
 1000000  *
 /dynamixel_manager/serial_ports/pan_tilt_port/max_motor_id:
 25  *
 /dynamixel_manager/serial_ports/pan_tilt_port/min_motor_id:
 1  *
 /dynamixel_manager/serial_ports/pan_tilt_port/port_name:
 /dev/ttyAMA0  *
 /dynamixel_manager/serial_ports/pan_tilt_port/update_rate:
 20  * /rosdistro: indigo  *
 /rosversion: 1.11.15

NODES   /
dynamixel_manager (dynamixel_controllers/controller_manager.py)

ROS_MASTER_URI=http://localhost:11311 
core service [/rosout] found
process[dynamixel_manager-1]: started
 [INFO] [WallTime: 1455271947.687416]
 pan_tilt_port: Pinging motor IDs 1
 through 25... [INFO] [WallTime:
 1455271949.918483] pan_tilt_port: Found 1 motors - 1 AX-12 [1],
 initialization complete. `

2) launch dynamixel tutorial tilt controller

$ roslaunch dynamixel_tutorials start_tilt_controller.launch

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.15
 * /tilt_controller/controller/module: joint_position_co...
 * /tilt_controller/controller/package: dynamixel_control...
 * /tilt_controller/controller/type: JointPositionCont...
 * /tilt_controller/joint_name: tilt_joint
 * /tilt_controller/joint_speed: 1.17
 * /tilt_controller/motor/id: 1
 * /tilt_controller/motor/init: 512
 * /tilt_controller/motor/max: 1023
 * /tilt_controller/motor/min: 0

NODES
  /
    tilt_controller_spawner (dynamixel_controllers/controller_spawner.py)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[tilt_controller_spawner-1]: started with pid [5975]
[INFO] [WallTime: 1455271966.834666] pan_tilt_port controller_spawner: waiting for controller_manager dxl_manager to startup in global namespace...
[INFO] [WallTime: 1455271966.877447] pan_tilt_port controller_spawner: All services are up, spawning controllers...
[INFO] [WallTime: 1455271967.194521] Controller tilt_controller successfully started.
[tilt_controller_spawner-1] process has finished cleanly
log file: /home/iñigo/.ros/log/e8ebc1f4-d0da-11e5-809d-b827eb5a7d39/tilt_controller_spawner-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

The log error is not really valuable:

[rosout][INFO] 2016-02-12 10:20:59,094: pan_tilt_port controller_spawner: All services are up, spawning controllers...
[rosout][ERROR] 2016-02-12 10:20:59,130: Controller [tilt_controller] already started. If you want to restart it, call restart.
[rospy.core][INFO] 2016-02-12 10:20:59,172: signal_shutdown [atexit]
[rospy.impl.masterslave][INFO] 2016-02-12 10:20:59,191: atexit

Is this normal???

Iñigo

EDIT

An exception is happening:

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.15
 * /tilt_controller/controller/module: joint_position_co...
 * /tilt_controller/controller/package: dynamixel_control...
 * /tilt_controller/controller/type: JointPositionCont...
 * /tilt_controller/joint_name: tilt_joint
 * /tilt_controller/joint_speed: 1.17
 * /tilt_controller/motor/id: 1
 * /tilt_controller/motor/init: 512
 * /tilt_controller/motor/max: 1023
 * /tilt_controller/motor/min: 0

NODES
  /
    tilt_controller_spawner (dynamixel_controllers/controller_spawner.py)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[tilt_controller_spawner-1]: started with pid [3769]
[INFO] [WallTime: 1455286719.002746] pan_tilt_port controller_spawner: waiting for controller_manager dxl_manager to startup in global namespace...
[INFO] [WallTime: 1455286719.037128] pan_tilt_port controller_spawner: All services are up, spawning controllers...
[INFO] [WallTime: 1455286719.359311] Controller tilt_controller successfully started.
[tilt_controller_spawner-1] process has finished cleanly
log file: /home/erle/.ros/log/eeb18aa0-d18a-11e5-a4fa-b827eb5a7d39/tilt_controller_spawner-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
Unhandled exception in thread started by 
sys.excepthook is missing
lost sys.stderr