There is no data from the topic --"/force"

[baoyue-1996]

Although I started the package normally and have any errors,however, there is no any information in the topic. Can you give me some suggestions?
#############################################################################
~$ roslaunch dynpick_driver driver.launch
... logging to /home/baoyue/.ros/log/f53c8f1c-de15-11eb-9a1c-0800271077ec/roslaunch-baoyue-VirtualBox-4854.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://baoyue-VirtualBox:44853/

SUMMARY

PARAMETERS

• /dynpick_driver_node/acquire_calibration: True
• /dynpick_driver_node/device: /dev/ttyUSB0
• /dynpick_driver_node/frame_id: /sensor
• /dynpick_driver_node/frequency_div: 1
• /dynpick_driver_node/rate: 1000
• /rosdistro: kinetic
• /rosversion: 1.12.17

NODES
/
dynpick_driver_node (dynpick_driver/dynpick_driver_node)

auto-starting new master
process[master]: started with pid [4864]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to f53c8f1c-de15-11eb-9a1c-0800271077ec
process[rosout-1]: started with pid [4877]
started core service [/rosout]
process[dynpick_driver_node-2]: started with pid [4881]
#######################################################
$ rostopic list
/force
/rosout
/rosout_agg
$ rostopic echo /force
#######################################################

[KokiMurase]

I am experiencing the same phenomenon. When I try to output wacoh wdf-6m200-3 with ROSmelodic, force is not output.
####################################################################################################

$ roslaunch dynpick_driver sample.launch
... logging to /home/koki/.ros/log/7a23bc6c-ba18-11ec-9d99-000c29d860a5/roslaunch-koki-virtual-machine-5478.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

Deprecated: xacro tag 'insert_block' w/o 'xacro:' xml namespace prefix (will be forbidden in Noetic)
when instantiating macro: dynpick (/home/koki/catkin_ws/src/dynpick_driver/urdf/dynpick_WEF-6A200_macro.xacro)
in file: /home/koki/catkin_ws/src/dynpick_driver/urdf/dynpick_WEF-6A200.xacro
Use the following command to fix incorrect tag usage:
find . -iname "*.xacro" | xargs sed -i 's#<\([/]\?\)\(if\|unless\|include\|arg\|property\|macro\|insert_block\)#<\1xacro:\2#g'

started roslaunch server http://koki-virtual-machine:46485/

SUMMARY
========

PARAMETERS
 * /dynpick_driver_node/acquire_calibration: True
 * /dynpick_driver_node/device: /dev/ttyUSB0
 * /dynpick_driver_node/frame_id: /sensor
 * /dynpick_driver_node/frequency_div: 1
 * /dynpick_driver_node/rate: 1000
 * /robot_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.12

NODES
  /
    dynpick_driver_node (dynpick_driver/dynpick_driver_node)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [5492]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 7a23bc6c-ba18-11ec-9d99-000c29d860a5
process[rosout-1]: started with pid [5503]
started core service [/rosout]
process[dynpick_driver_node-2]: started with pid [5506]
process[rviz-3]: started with pid [5507]
process[robot_state_publisher-4]: started with pid [5516]
[rviz-3] process has finished cleanly
log file: /home/koki/.ros/log/7a23bc6c-ba18-11ec-9d99-000c29d860a5/rviz-3*.log
^C[robot_state_publisher-4] killing on exit
[dynpick_driver_node-2] killing on exit
[dynpick_driver_node-2] escalating to SIGTERM
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

[y-yosuke]

I wonder if PR #44 (not merged into master yet) is related to this issue, but I'm not sure.
Does anyone have any ideas about this issue? @k-okada @534o

[y-yosuke]

Another concern is that it seems that you are accessing the device from virtual machines.

Generally, when accessing sensors from a virtual machine, problems sometimes occur.

Have you ever run the software on a native Ubuntu PC? If so, did the same phenomenon occur?

[KokiMurase]

Yes, I tried to do with Ubuntu PC (dualboot), the same phenomenon occured.
/force is not output.

[y-yosuke]

How about trying a modified code of PR #44 or #46?

[KokiMurase]

I tried #46 changing, but /force is not output.
When I do catkin build, this warning appear.
Warnings << dynpick_driver:make /home/srl-orbital/catkin_ws/logs/dynpick_driver/build.make.002.log /home/srl-orbital/catkin_ws/src/dynpick_driver/src/kbhit.c: In function ‘kbhit’: /home/srl-orbital/catkin_ws/src/dynpick_driver/src/kbhit.c:67:13: warning: implicit declaration of function ‘read’; did you mean ‘fread’? [-Wimplicit-function-declaration] nread = read(0, &ch, 1); ^~~~ fread cd /home/srl-orbital/catkin_ws/build/dynpick_driver; catkin build --get-env dynpick_driver | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
I change from //#include <unisted.h> to //#include <unisted.h>. I do not find this warning.

I follow http://docs.ros.org/en/indigo/api/dynpick_driver/html/index.html
and install dynpic_driver.

[y-yosuke]

For getting back to trouble shooting basics, let me know your situation, environments and outputs.

• "/force is not output." means which situation?
  1. /force topic does not exists with running rostopic list.
  2. /force topic exists but is not publishing any data.

Please let me know whole outputs for commands below.

• uname -a
• lsusb
• ls /dev
• Terminal 1
  • env | grep ROS
  • launch with --screen option
    • roslaunch dynpick_driver sample.launch --screen
    • roslaunch dynpick_driver driver.launch --screen
• Terminal 2
  • env | grep ROS
  • rosnode list
  • rostopic list
  • rostopic echo /force
• dmesg

[KokiMurase]

**srl-orbital@srl-orbital-cf-33**:$ uname -a
Linux srl-orbital-cf-33 5.4.0-107-generic #12118.04.1-Ubuntu SMP Thu Mar 24 17:21:33 UTC 2022 x86_64 x86_64 x86_64 GNU/Linux
**srl-orbital@srl-orbital-cf-33**:$ lsusb -t
/:  Bus 02.Port 1: Dev 1, Class=root_hub, Driver=xhci_hcd/6p, 5000M
    |__ Port 3: Dev 2, If 0, Class=Hub, Driver=hub/4p, 5000M
        |__ Port 1: Dev 3, If 0, Class=Hub, Driver=hub/4p, 5000M
            |__ Port 1: Dev 4, If 0, Class=Vendor Specific Class, Driver=r8152, 5000M
/:  Bus 01.Port 1: Dev 1, Class=root_hub, Driver=xhci_hcd/12p, 480M
    |__ Port 3: Dev 2, If 0, Class=Hub, Driver=hub/4p, 480M
        |__ Port 4: Dev 6, If 0, Class=Hub, Driver=hub/3p, 480M
            |__ Port 2: Dev 9, If 2, Class=Human Interface Device, Driver=usbhid, 12M
            |__ Port 2: Dev 9, If 0, Class=Human Interface Device, Driver=usbhid, 12M
            |__ Port 2: Dev 9, If 1, Class=Human Interface Device, Driver=usbhid, 12M
        |__ Port 1: Dev 4, If 0, Class=Hub, Driver=hub/4p, 480M
            |__ Port 3: Dev 11, If 0, Class=Vendor Specific Class, Driver=cp210x, 12M
            |__ Port 2: Dev 7, If 0, Class=Vendor Specific Class, Driver=cp210x, 12M
    |__ Port 4: Dev 3, If 0, Class=Human Interface Device, Driver=usbhid, 12M
    |__ Port 6: Dev 5, If 0, Class=Human Interface Device, Driver=usbhid, 12M
    |__ Port 8: Dev 8, If 1, Class=Wireless, Driver=btusb, 12M
    |__ Port 8: Dev 8, If 0, Class=Wireless, Driver=btusb, 12M
    |__ Port 10: Dev 10, If 0, Class=Video, Driver=uvcvideo, 480M
    |__ Port 10: Dev 10, If 1, Class=Video, Driver=uvcvideo, 480M
    |__ Port 10: Dev 10, If 2, Class=Video, Driver=uvcvideo, 480M
    |__ Port 10: Dev 10, If 3, Class=Video, Driver=uvcvideo, 480M
**srl-orbital@srl-orbital-cf-33**:$ env | grep ROS
ROS_ETC_DIR=/opt/ros/melodic/etc/ros
ROS_ROOT=/opt/ros/melodic/share/ros
ROS_MASTER_URI=http://localhost:11311
ROS_VERSION=1
ROS_PYTHON_VERSION=2
ROS_PACKAGE_PATH=/home/srl-orbital/catkin_ws/src/dynpick_driver:/opt/ros/melodic/share
ROSLISP_PACKAGE_DIRECTORIES=/home/srl-orbital/catkin_ws/devel/share/common-lisp
ROS_DISTRO=melodic
**srl-orbital@srl-orbital-cf-33**:~$ roslaunch dynpick_driver driver.launch
... logging to /home/srl-orbital/.ros/log/03983a2a-bee9-11ec-9835-4c364e0eb48f/roslaunch-srl-orbital-cf-33-7037.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://srl-orbital-cf-33:45489/

SUMMARY
========

PARAMETERS
 * /dynpick_driver_node/acquire_calibration: True
 * /dynpick_driver_node/device: /dev/ttyUSB0
 * /dynpick_driver_node/frame_id: /sensor
 * /dynpick_driver_node/frequency_div: 1
 * /dynpick_driver_node/rate: 1000
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES
  /
    dynpick_driver_node (dynpick_driver/dynpick_driver_node)

auto-starting new master
process[master]: started with pid [7048]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 03983a2a-bee9-11ec-9835-4c364e0eb48f
process[rosout-1]: started with pid [7059]
started core service [/rosout]
process[dynpick_driver_node-2]: started with pid [7062]
^C[dynpick_driver_node-2] killing on exit
[dynpick_driver_node-2] escalating to SIGTERM
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
**srl-orbital@srl-orbital-cf-33**:~$ roslaunch dynpick_driver sample.launch
... logging to /home/srl-orbital/.ros/log/5c52ab46-bee9-11ec-9835-4c364e0eb48f/roslaunch-srl-orbital-cf-33-7432.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

Deprecated: xacro tag 'insert_block' w/o 'xacro:' xml namespace prefix (will be forbidden in Noetic)
when instantiating macro: dynpick (/home/srl-orbital/catkin_ws/src/dynpick_driver/urdf/dynpick_WEF-6A200_macro.xacro)
in file: /home/srl-orbital/catkin_ws/src/dynpick_driver/urdf/dynpick_WEF-6A200.xacro
Use the following command to fix incorrect tag usage:
find . -iname "*.xacro" | xargs sed -i 's#<\([/]\?\)\(if\|unless\|include\|arg\|property\|macro\|insert_block\)#<\1xacro:\2#g'

started roslaunch server http://srl-orbital-cf-33:44661/

SUMMARY
========

PARAMETERS
 * /dynpick_driver_node/acquire_calibration: True
 * /dynpick_driver_node/device: /dev/ttyUSB0
 * /dynpick_driver_node/frame_id: /sensor
 * /dynpick_driver_node/frequency_div: 1
 * /dynpick_driver_node/rate: 1000
 * /robot_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES
  /
    dynpick_driver_node (dynpick_driver/dynpick_driver_node)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [7450]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 5c52ab46-bee9-11ec-9835-4c364e0eb48f
process[rosout-1]: started with pid [7461]
started core service [/rosout]
process[dynpick_driver_node-2]: started with pid [7467]
process[rviz-3]: started with pid [7476]
process[robot_state_publisher-4]: started with pid [7477]
^C[robot_state_publisher-4] killing on exit
[dynpick_driver_node-2] killing on exit
[rviz-3] killing on exit
[dynpick_driver_node-2] escalating to SIGTERM
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
**srl-orbital@srl-orbital-cf-33**:$ ^C

[KokiMurase]

**srl-orbital@srl-orbital-cf-33**:$ env | grep ROS
ROS_ETC_DIR=/opt/ros/melodic/etc/ros
ROS_ROOT=/opt/ros/melodic/share/ros
ROS_MASTER_URI=http://localhost:11311
ROS_VERSION=1
ROS_PYTHON_VERSION=2
ROS_PACKAGE_PATH=/home/srl-orbital/catkin_ws/src/dynpick_driver:/opt/ros/melodic/share
ROSLISP_PACKAGE_DIRECTORIES=/home/srl-orbital/catkin_ws/devel/share/common-lisp
ROS_DISTRO=melodic
**srl-orbital@srl-orbital-cf-33**:$ rosnode list
/dynpick_driver_node
/rosout
**srl-orbital@srl-orbital-cf-33**:$ rostopic list
/force
/rosout
/rosout_agg
**srl-orbital@srl-orbital-cf-33**:$ rostopic echo /force
^C**srl-orbital@srl-orbital-cf-33**:$ rostopic echo /force
^C**srl-orbital@srl-orbital-cf-33**:$ ^C

[KokiMurase]

I apologize for the difficulty in seeing this.
Currently, there is /force in rostopic, but both driver.launch and sample.launch have no values.

[y-yosuke]

How about just running lsusb? (not lsusb -t)
I want to know vender ID and product ID.

[KokiMurase]

Sorry,

-----------
--------------------------
srl-orbital@srl-orbital-cf-33:~$ lsusb
Bus 002 Device 004: ID 0bda:8153 Realtek Semiconductor Corp. 
Bus 002 Device 003: ID 0424:5744 Standard Microsystems Corp. 
Bus 002 Device 002: ID 0424:5744 Standard Microsystems Corp. 
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 008: ID 8087:0a2b Intel Corp. 
Bus 001 Device 005: ID 0eef:c07c D-WAV Scientific Co., Ltd 
Bus 001 Device 003: ID 2d1f:0003  
Bus 001 Device 010: ID 214a:0008  
Bus 001 Device 006: ID 05e3:0608 Genesys Logic, Inc. Hub
Bus 001 Device 009: ID 10c4:ea60 Cygnal Integrated Products, Inc. CP210x UART Bridge / myAVR mySmartUSB light
Bus 001 Device 007: ID 10c4:ea60 Cygnal Integrated Products, Inc. CP210x UART Bridge / myAVR mySmartUSB light
Bus 001 Device 004: ID 0424:2744 Standard Microsystems Corp. 
Bus 001 Device 002: ID 0424:2744 Standard Microsystems Corp. 
Bus 001 Device 011: ID 5986:1120 Acer, Inc 
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
srl-orbital@srl-orbital-cf-33:~$ ^C
srl-orbital@srl-orbital-cf-33:~$ 

[y-yosuke]

Are two dynpick sensors connected to your PC?

[KokiMurase]

Are two dynpick sensors connected to your PC?

No, one sensor conected.

[y-yosuke]

Additionally, please show me a result of ls /dev command.