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control_manager AX12 overload error

asked 2012-05-09 03:31:50 -0600

rosnovice gravatar image

I sucessfully created and ran a controller_manager file, a tilt.yaml file, a start_tilt_launcher.launch file and a c++ program that allows me to send 4 different servo's commands via ros. The only problem is that if I use 5 servo's, then on the second or third execution of this program, the controller_manager receives an overload error such as this:


process[dynamixel_manager-1]: started with pid [4098]
[INFO] [WallTime: 1336569043.428306] Pinging motor IDs 1 through 11...
[INFO] [WallTime: 1336569043.550358] Found motors with IDs: [4, 6, 9, 11].
[INFO] [WallTime: 1336569043.689777] There are 4 AX-12+ servos connected
[INFO] [WallTime: 1336569043.690113] Dynamixel Manager on port /dev/ttyUSB0 initialized
================================================================================REQUIRED process [dynamixel_manager-1] has died!
process has finished cleanly.
log file: /home/mickey11592/.ros/log/56ef92f0-99d7-11e1-969c-001aa0ada442/dynamixel_manager-1*.log

Initiating shutdown!

[dynamixel_manager-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done
I am not sure how to fix this. I might be giving the commands to the servo's in an inefficient way, unfortunately this is the only way that I know how to. controller_manager.launch file (set up for 5 servo's, commented down to 4), I removed the "<" and ">" tags in order to view the full code :

!-- -*- mode: XML -*- --

launch
    node name="dynamixel_manager" pkg="dynamixel_controllers" type="controller_manager.py" required="true" output="screen"
        rosparam
            namespace: dynamixel_controller_manager
            serial_ports:
                dxl_tty1:
                    port_name: "/dev/ttyUSB0"
                    baud_rate: 1000000
                    min_motor_id: 1
                    max_motor_id: 11
                    update_rate: 10
                
        /rosparam
    /node
/launch

start_tilt_controller.launch :

launch
    !-- Start tilt joint controller --
    rosparam file="$(find dynamixeltutorials)/tilt.yaml" command="load"/
    node name="tilt_controller_spawner" pkg="dynamixel_controllers" type="controller_spawner.py"
          args="--manager=dynamixel_controller_manager
        --port dxl_tty1
                tilt_controller1
                tilt_controller2
                tilt_controller3
                tilt_controller4"

      output="screen"/

/launch

tilt.yaml :


tilt_controller1:
    controller:
        package: dynamixel_controllers
        module: joint_position_controller
        type: JointPositionController
    joint_name: tilt_joint
    joint_speed: 1.17
    motor:
        id: 4
        init: 512
        min: 0
        max: 1023

tilt_controller2: controller: package: dynamixel_controllers module: joint_position_controller type: JointPositionController joint_name: tilt_joint joint_speed: 1.17 motor: id: 6 init: 512 min: 0 max: 1023

tilt_controller3: controller: package: dynamixel_controllers module: joint_position_controller type: JointPositionController joint_name: tilt_joint joint_speed: 1.17 motor: id: 9 init: 512 min: 0 max: 1023

tilt_controller4: controller: package: dynamixel_controllers module: joint_position_controller type: JointPositionController joint_name: tilt_joint joint_speed: 1.17 motor: id: 11 init: 512 min: 0 max: 1023

The c++ code I wrote to send commands to the servo's

dynamixel13talker.cpp :


include "ros/ros.h"
include "std_msgs/Float64.h"
include cmath
include math.h
include iostream
using namespace std;
int main(int argc, char **argv)
{
  ros::init(argc, argv, "talker"); 
  ros::NodeHandle n;
  ros::Publisher pub1 = n.advertise<std_msgs::float64&gt;("tilt_controller1 command",="" 1000);="" std_msgs::float64="" cmd1msg;="" ros::publisher="" pub2="n.advertise&lt;std_msgs::Float64&gt;("tilt_controller2/command"," 1000);="" std_msgs::float64="" cmd2msg;="" ros::publisher="" pub3="n.advertise&lt;std_msgs::Float64&gt;("tilt_controller3/command"," 1000);="" std_msgs::float64="" cmd3msg;="" ros::publisher="" pub4="n.advertise&lt;std_msgs::Float64&gt;("tilt_controller4/command"," 1000);="" std_msgs::float64="" cmd4msg;="" ros::publisher="" pub5="n.advertise&lt;std_msgs::Float64&gt;("tilt_controller5/command"," 1000);="" std_msgs::float64="" cmd5msg;<="" p="">

int i = 1; //change to 5 while(i <= 4) { if(i == 1) { cout << "Please Enter an angle ...

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answered 2012-05-11 03:29:10 -0600

arebgun gravatar image

Overload error means that the servo is unable to move to a desired position because it can't bear the load attached to it. You can't really solve this problem in software unless you turn off the overload alarm, bu then you can physically damage the motor.

Also, the position input to the motors is in radians not in encoder units, so you need to convert your degree input to radians not to motor encoder units.

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Asked: 2012-05-09 03:31:50 -0600

Seen: 1,257 times

Last updated: May 11 '12