Sisters Dell Work Station Setup 202005 Notes and Log

6/1/2020

eeppWs20200601.txt

eepp@sisters:~$ emacs tmp/eeppWs20200601.txt&
[1] 6489
eepp@sisters:~$ mkdir -p eepp_ws/src
eepp@sisters:~$ cd eepp_ws/
eepp@sisters:eepp_ws$ colcon build --symlink-install
                     
Summary: 0 packages finished [0.13s]
eepp@sisters:eepp_ws$ cd src
eepp@sisters:src$ mkdir eepp_openmanipulator
eepp@sisters:src$ cd eepp_openmanipulator/
eepp@sisters:eepp_openmanipulator$ cp ~/robotis_ws/src/open_manipulator/
.g


eepp@sisters:eepp_openmanipulator$ cp -r ~/robotis_ws/src/open_manipulator/open_manipulator_x_teleop/CMakeLists.txt .
eepp@sisters:eepp_openmanipulator$ cp -r ~/robotis_ws/src/open_manipulator/open_manipulator_x_teleop/src .
eepp@sisters:eepp_openmanipulator$ ls
CMakeLists.txt  launch  package.xml  src
eepp@sisters:eepp_openmanipulator$ cd launch/
eepp@sisters:launch$ ls
keyboard_test.launch.py   open_manipulator_x_teleop_joystick.launch.py
keyboard_test.launch.py~  open_manipulator_x_teleop_keyboard.launch.py
eepp@sisters:launch$ pwd
/home/eepp/eepp_ws/src/eepp_openmanipulator/launch
eepp@sisters:launch$ rm open_manipulator_x_teleop_*
eepp@sisters:launch$ cd ..
eepp@sisters:eepp_openmanipulator$ cd src/
eepp@sisters:src$ ls
'#keyboard_test.cpp#'   open_manipulator_x_teleop_joystick.cpp
 keyboard_test.cpp      open_manipulator_x_teleop_keyboard.cpp
 keyboard_test.cpp~
eepp@sisters:src$ rm open_manipulator_x_teleop_*
eepp@sisters:src$ cd ..
eepp@sisters:eepp_openmanipulator$ emacs package.xml &
[2] 7034




eepp@sisters:eepp_ws$ 
eepp@sisters:eepp_ws$ colcon build --symlink-install
Starting >>> eepp_open_manipulator
Finished <<< eepp_open_manipulator [6.24s]                       

Summary: 1 package finished [6.35s]
eepp@sisters:eepp_ws$ ls


TERMINAL 1

eepp@sisters:eepp_ws$ 
eepp@sisters:eepp_ws$ 
eepp@sisters:eepp_ws$ 
eepp@sisters:eepp_ws$ export RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED=1
eepp@sisters:eepp_ws$ ros2 launch open_manipulator_x_controller open_manipulator_x_controller.launch.py
[INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2020-06-01-10-13-00-641227-sisters-10595
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [launch.user]: Execute OpenManipulator-X Controller!!
[INFO] [open_manipulator_x_controller-1]: process started with pid [10608]
[open_manipulator_x_controller-1] port_name and baud_rate are set to /dev/ttyUSB0, 1000000 
[open_manipulator_x_controller-1] Joint Dynamixel ID : 11, Model Name : XM430-W350
[open_manipulator_x_controller-1] Joint Dynamixel ID : 12, Model Name : XM430-W350
[open_manipulator_x_controller-1] Joint Dynamixel ID : 13, Model Name : XL430-W250
[open_manipulator_x_controller-1] Joint Dynamixel ID : 14, Model Name : XL430-W250
[open_manipulator_x_controller-1] Gripper Dynamixel ID : 15, Model Name :XL430-W250
[open_manipulator_x_controller-1] [ERROR] [DynamixelWorkbench] Failed to set Current Based Position Control Mode!
[open_manipulator_x_controller-1] [INFO] [open_manipulator_x_controller]: Succeeded to Initialise OpenManipulator-X Controller




TERMINAL 2

eepp@sisters:eepp_open_manipulator$ 
eepp@sisters:eepp_open_manipulator$ export RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED=1
eepp@sisters:eepp_open_manipulator$ ros2 launch eepp_open_manipulator keyboard_test.launch.py 
[INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2020-06-01-10-16-50-372178-sisters-13590
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [keyboard_test-1]: process started with pid [13603]
[keyboard_test-1] ---- in maink
[keyboard_test-1] ---- in KeyboardTest
[keyboard_test-1] ---- in disable_waiting_for_entry
[keyboard_test-1] ---- leaving disable_waiting_for_entry
[keyboard_test-1] [INFO] [keyboard_test]: OpenManipulator-X Teleop Keyboard Initialised