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.