Software problem

About ROS1

Q: When the terminal is switched to ~/catkin_ws/src, use git to install and update the MERCURY_X1_ROS, the target path "Mercury_x1_ROS" already exists. what is the reason?

• A: This means that there is already a "Mercury_x1_ROS" package in ~/catkin_ws/src. You need to delete it in advance, and then re -execute the git operation.

Q: When Rosrun is running, the terminal error prompts "Could Not Open Port/DEV/Tyusb0: Permission: '/DEV/Tyusb0'". Why?

• A: Insufficient serial authority. Enter "Sudo Chmod 777 /DEV /Tyusb0" in the terminal and grant permissions.

Q: Why can't the ROS program run in VSCODE?

• A: Since the VSCode terminal cannot be loaded into the ROS environment, it needs to be running in the system terminal.

Q: When Rosrun is running, the terminal prompts "cannot register the main node [http:// localhost: 11311]: Master node may not be operated." I will continue to work hard. "what is the reason?

• A: Before running the ROS program, you need to open the ROS node and enter "Roscore" in the terminal.

Q: When Rosrun is running, the terminal error prompts "Could Not Open Port/DEV/Tyusb0: No Such File or Directory: '/DEV/TTYUSB1'". Why?

• A: serial error. You need to confirm the actual serial port of the current robotic arm. You can view it through LS /DEV /TTY*.

Q: In Ubuntu18.04, 'catkin_make' fails to build the code, and the terminal prompts that 'Project 'cv_bridge' specifies '/usr/include/opencv' as the include directory and is not found. and other error messages

• A: The OpenCV path in the configuration file does not match the actual path of the system. You need to use the sudo command to modify the configuration file (the path is "/opt/ros/melodic/share/cv_bridge/cmake/cv_bridgeConfig.cmake"). The actual OpenCV path of the system is located under the "/usr/include/" path.

Q: Just clone the mercury_x1_ros package and run the rosrun program directly. Getting errors like "package"mercury_x1_ros"not found" or errors like file cannot be found?

• A: The newly cloned mercury_x1_ros needs to build the code compiled by the ROS environment. Terminal input

bash
cd ~/catkin_ws/
catkin_make
source devel/ setup.bash

About robotic arm control

Question: When sending angles or coordinates to the robotic arm, the robotic arm does not move

• A: Use get_angles() to read the angle of the robotic arm. If the angle return is empty, check whether the robotic arm is powered on. Use power_on() to power on the robotic arm; check whether the port number is used. correct. If there is an angle, check whether the angle exceeds the range of motion. See Table 1. If it exceeds the range, use release_all_servos() to relax all joints (note that the joints will fall after relaxing and need to be caught), and align the zero scale lines of joints 1~5 and 7. , 6 joints are 90 degrees perpendicular to the zero scale line. Then use focus_all_servos() to lock the joints, then use set_servo_calibration(1)~set_servo_calibration(7) to calibrate the zero points of each joint in sequence, and then use get_angles() to read the current joint angles. For example, the returned data is [0, 0 , 0, 0, 0, 90, 0], the calibration is successful, otherwise the previous calibration steps are repeated.

Q: The camera cannot be turned on

• A: Open the local camera to see if you can switch to the left and right arm cameras. If a camera cannot be viewed, re-plug the USB port or replace the USB port. If you can switch to the left and right cameras, check whether the camera port has changed (the port may change after restarting)

Q: The adaptive gripper cannot be controlled

• A: Check the power indicator light of the adaptive gripper. When normal, the indicator light should be in a steady state. If the indicator light flashes, please re-plug the connection cable between the gripper and the robotic arm. If the indicator light returns to a steady state, normal. If the indicator light is always on and still cannot be controlled, use set_gripper_mode(0) to change the gripper usage mode. Q: The base cannot be moved

• Enter in the terminal

  roslaunch turn_on_mercury_robot turn_on_mercury_robot.launch
  rostopic echo /PowerVoltage
  

• Check the battery power. If the power is lower than 21V, the base cannot be used. Please charge it and continue using it.