Errors on Follow me and Joystick Kaya and Follow me Autonomous mode has no movement

I am experiencing the following errors on my newly built Kaya Robot. I am using the dynamixel XC430 servos with U2D2 usb and have made the following adjustments to my kaya_hardware.subgraph.json file (the documenation says to edit the \apps\kaya\kaya_hardware.config.json but there is no such file so I assumed it was the subgraph vs. config version.

Here is the beginnig of the file with a highlight in bold of the edits I made. I had to additionally add the baudrate parameter.

{
“modules”: [
“dynamixel”,
“imu”,
“kaya”,
“realsense”,
“viewers”
],
“config”: {
“kaya_base”: {
“holonomic_to_wheels”: {
“max_linear_speed”: 0.5,
“max_angular_speed”: 2.0
}
},
“dynamixels”: {
“driver”: {
“tick_period”: “50 Hz”,
" baudrate": “k57600”,
"servo_model": “XC430”,
"port": “/dev/ttyUSB0”,
“servo_ids”: [3, 1, 2]
},
“isaac.alice.Failsafe”: {
“name”: “robot_failsafe”
}
},

I am able to use the joystick in both the joystick app and the follow me app. However, when I first start the robot, it continuously spins in a circle (similiar to if I set debug_mode to True). But when I manipulate the joystick it them stops and will act properly (by staying still until the joystick movements initial movement for it).

When in the follow me app, I am able to see in Isaac Sight that the April Tag is recognized and highlighted, however when I press the R1 button to initial autonomous mode it does not move. There is an indication it was switching into autonomous mode, but not movement from the robot.

However I amalso plauged by Dynamixel errors in additional to autonomous mode not making any movement:

2021-03-17 21:27:36.480 ERROR packages/dynamixel/gems/dynamixel.cpp@33: Dynamixel error (-3001): [RxPacketError] Unknown error code!
2021-03-17 21:27:36.480 ERROR packages/dynamixel/gems/dynamixel.cpp@186: Error while reading register 23
2021-03-17 21:27:36.517 ERROR packages/dynamixel/gems/dynamixel.cpp@33: Dynamixel error (-3001): [RxPacketError] Unknown error code!
2021-03-17 21:27:36.517 ERROR packages/dynamixel/gems/dynamixel.cpp@186: Error while reading register 23
2021-03-17 21:27:36.554 ERROR packages/dynamixel/gems/dynamixel.cpp@33: Dynamixel error (-3001): [RxPacketError] Unknown error code!
2021-03-17 21:27:36.554 ERROR packages/dynamixel/gems/dynamixel.cpp@186: Error while reading register 23
2021-03-17 21:27:36.590 ERROR packages/dynamixel/gems/dynamixel.cpp@33: Dynamixel error (-3001): [RxPacketError] Unknown error code!
2021-03-17 21:27:36.626 ERROR packages/dynamixel/gems/dynamixel.cpp@33: Dynamixel error (-3001): [RxPacketError] Unknown error code!
2021-03-17 21:27:36.662 ERROR packages/dynamixel/gems/dynamixel.cpp@33: Dynamixel error (-3001): [RxPacketError] Unknown error code!
2021-03-17 21:27:36.693 INFO external/com_nvidia_isaac_engine/engine/alice/backend/failsafe_backend.cpp@46: Reanimating failsafe ‘robot_failsafe’
2021-03-17 21:27:36.693 INFO packages/navigation/RobotRemoteControl.cpp@75: Entering autonomous mode
2021-03-17 21:27:36.699 ERROR packages/dynamixel/gems/dynamixel.cpp@33: Dynamixel error (-3001): [RxPacketError] Unknown error code!
2021-03-17 21:27:36.699 ERROR packages/dynamixel/gems/dynamixel.cpp@186: Error while reading register 23
2021-03-17 21:27:36.736 ERROR packages/dynamixel/gems/dynamixel.cpp@33: Dynamixel error (-3001): [RxPacketError] Unknown error code!
2021-03-17 21:27:36.736 ERROR packages/dynamixel/gems/dynamixel.cpp@186: Error while reading register 23
2021-03-17 21:27:36.772 ERROR packages/dynamixel/gems/dynamixel.cpp@33: Dynamixel error (-3001): [RxPacketError] Unknown error code!
2021-03-17 21:27:36.772 ERROR packages/dynamixel/gems/dynamixel.cpp@186: Error while reading register 23
2021-03-17 21:27:36.809 ERROR packages/dynamixel/gems/dynamixel.cpp@33: Dynamixel error (-3001): [RxPacketError] Unknown error code!
2021-03-17 21:27:36.845 ERROR packages/dynamixel/gems/dynamixel.cpp@33: Dynamixel error (-3001): [RxPacketError] Unknown error code!
2021-03-17 21:27:36.881 ERROR packages/dynamixel/gems/dynamixel.cpp@33: Dynamixel error (-3001): [RxPacketError] Unknown error code!
2021-03-17 21:27:36.918 ERROR packages/dynamixel/gems/dynamixel.cpp@33: Dynamixel error (-3001): [RxPacketError] Unknown error code!
2021-03-17 21:27:36.918 ERROR packages/dynamixel/gems/dynamixel.cpp@186: Error while reading register 23
2021-03-17 21:27:36.924 INFO packages/navigation/RobotRemoteControl.cpp@138: Stopping
2021-03-17 21:27:36.955 ERROR packages/dynamixel/gems/dynamixel.cpp@33: Dynamixel error (-3001): [RxPacketError] Unknown error code!
2021-03-17 21:27:36.955 ERROR packages/dynamixel/gems/dynamixel.cpp@186: Error while reading register 23
2021-03-17 21:27:36.991 ERROR packages/dynamixel/gems/dynamixel.cpp@33: Dynamixel error (-3001): [RxPacketError] Unknown error code!

I am new to this and would appreciate any help possible to remove the Dynamixel errors and also to get follow me working.

Thank you.

Seems my U2D2 was flawed and wasn’t receiving packets. Replaced it and the errors went away. However, I am still unable to get it to move autonomously in follow me app. It enters autonomous mode but does not move. I changed the fiducial_as_goal target_fiducual_id to: tag36h11_0 which is the tag it seems to be identifying.

When I am looking in the Camera window, there are 5 lines with checkboxes. 2 are black and 3 are red.
These are the bottom three red ones (which it says is not ticking properly).

Is this causing my issue or something else?

follow_me/fiducial_as_goal/FiducialAsGoal/tag_pose
follow_me/fiducial_as_goal/FiducialAsGoal/target
follow_me/control.lqr/isaac.lqr.HolonomicBaseLqrPlanner/plan

Here are the logs when I am running the app:

2021-03-19 18:23:02.546 WARN external/com_nvidia_isaac_engine/engine/alice/backend/failsafe_backend.cpp@34: Failsafe triggered for ‘robot_failsafe’ because heartbeat ‘deadman_switch’ stopped beating
2021-03-19 18:23:02.820 WARN packages/navigation/HolonomicBaseWheelImuOdometry.cpp@158: Haven’t received any IMU data. Please check the edges. If no IMU is available, please set ‘use_imu’ to false.
2021-03-19 18:23:03.148 INFO external/com_nvidia_isaac_engine/engine/alice/backend/failsafe_backend.cpp@46: Reanimating failsafe ‘robot_failsafe’
2021-03-19 18:23:03.148 INFO packages/navigation/RobotRemoteControl.cpp@75: Entering autonomous mode
2021-03-19 18:23:03.299 INFO packages/navigation/RobotRemoteControl.cpp@138: Stopping
2021-03-19 18:23:03.534 WARN external/com_nvidia_isaac_engine/engine/alice/backend/failsafe_backend.cpp@34: Failsafe triggered for ‘robot_failsafe’ because heartbeat ‘deadman_switch’ stopped beating
2021-03-19 18:23:05.838 WARN packages/navigation/HolonomicBaseWheelImuOdometry.cpp@158: Haven’t received any IMU data. Please check the edges. If no IMU is available, please set ‘use_imu’ to false.
2021-03-19 18:23:08.851 WARN packages/navigation/HolonomicBaseWheelImuOdometry.cpp@158: Haven’t received any IMU data. Please check the edges. If no IMU is available, please set ‘use_imu’ to false.
2021-03-19 18:23:11.859 WARN packages/navigation/HolonomicBaseWheelImuOdometry.cpp@158: Haven’t received any IMU data. Please check the edges. If no IMU is available, please set ‘use_imu’ to false.
2021-03-19 18:23:13.393 INFO external/com_nvidia_isaac_engine/engine/alice/backend/failsafe_backend.cpp@46: Reanimating failsafe ‘robot_failsafe’
2021-03-19 18:23:14.868 WARN packages/navigation/HolonomicBaseWheelImuOdometry.cpp@158: Haven’t received any IMU data. Please check the edges. If no IMU is available, please set ‘use_imu’ to false.
2021-03-19 18:23:17.871 WARN packages/navigation/HolonomicBaseWheelImuOdometry.cpp@158: Haven’t received any IMU data. Please check the edges. If no IMU is available, please set ‘use_imu’ to false.
2021-03-19 18:23:20.877 WARN packages/navigation/HolonomicBaseWheelImuOdometry.cpp@158: Haven’t received any IMU data. Please check the edges. If no IMU is available, please set ‘use_imu’ to false.
2021-03-19 18:23:23.885 WARN packages/navigation/HolonomicBaseWheelImuOdometry.cpp@158: Haven’t received any IMU data. Please check the edges. If no IMU is available, please set ‘use_imu’ to false.
2021-03-19 18:23:26.891 WARN packages/navigation/HolonomicBaseWheelImuOdometry.cpp@158: Haven’t received any IMU data. Please check the edges. If no IMU is available, please set ‘use_imu’ to false.
2021-03-19 18:23:29.827 WARN external/com_nvidia_isaac_engine/engine/alice/backend/failsafe_backend.cpp@34: Failsafe triggered for ‘robot_failsafe’ because heartbeat ‘deadman_switch’ stopped beating
2021-03-19 18:23:29.897 WARN packages/navigation/HolonomicBaseWheelImuOdometry.cpp@158: Haven’t received any IMU data. Please check the edges. If no IMU is available, please set ‘use_imu’ to false.

My BMI160 was also faulty. Once I replaced it, it started worked properly.