EBC Power coming very late
Closed this issue · 12 comments
So, we installed everything using apt-get and have a problem with scitos_mira.launch. It seems the EBC-0 doesn't give any power for about 160.449861643 seconds, until we get the message saying EBC7 (and MotionTracking) is booting up. Is this something others experienced? Are we doing something wrong? See the relevant output below:
**************************************************************
** This software uses MetraLabs 'MIRA Commercial Edition'. **
** http://www.metralabs.com **
** Copyright (C) MetraLabs GmbH, Germany **
** **
** License information: **
** License ID : 10390-0001 **
** Issue date : 2013-Jul-24 07:12:38.849260 **
** Vendor : MetraLabs GmbH, Germany **
** Licensee : RWTH Aachen **
** **
** Redistribution and modification of this software is **
** strictly prohibited. **
**************************************************************
[ WARN] [1415273993.859613023]: (MIRA) Node 'Display' is missing and no such attribute was found, in tag starting at: (0)
[WARNING ] 2014-Nov-06 12:39:53.859577 Node 'Display' is missing and no such attribute was found, in tag starting at: (0)
[ WARN] [1415273994.100297282]: (MIRA) Node 'Head' is missing and no such attribute was found, in tag starting at: (0)
[WARNING ] 2014-Nov-06 12:39:54.100204 Node 'Head' is missing and no such attribute was found, in tag starting at: (0)
[ WARN] [1415273994.300476000]: (MIRA) Node 'StatusDisplay' is missing and no such attribute was found, in tag starting at: (0)
[WARNING ] 2014-Nov-06 12:39:54.300405 Node 'StatusDisplay' is missing and no such attribute was found, in tag starting at: (0)
[ WARN] [1415273994.509355831]: (MIRA) /robot/#MainControlUnit_e64419f3-bcd0-4fbf-9344-d0e5e4719563 : Booting up
[WARNING ] 2014-Nov-06 12:39:54.509231 /robot/#MainControlUnit_e64419f3-bcd0-4fbf-9344-d0e5e4719563 : Booting up
[ INFO] [1415273998.754023745]: Creating G5 with modules [Drive Charger EBC Display Head]
[ INFO] [1415273998.773221126]: Creating SCITOS G5 instance.
[ INFO] [1415273998.773483396]: Initialising Drive module..
[ INFO] [1415273998.773753563]: Initialising Charger module..
[ INFO] [1415273998.796291607]: Initialising EBC module..
[ INFO] [1415273998.857445304]: Initialising Display module..
[ INFO] [1415273998.887599292]: Initialising Head module..
[ INFO] [1415273999.042449800]: Reconfigure request on ScitosDisplay module.
[ INFO] [1415273999.068718130]: Going into main loop.
[ WARN] [1415274159.518579773]: (MIRA) /robot/#MotionTracking_6bcf0ba9-62f5-4f85-b9ed-0449984b8dec : Booting up
[WARNING ] 2014-Nov-06 12:42:39.518502 /robot/#MotionTracking_6bcf0ba9-62f5-4f85-b9ed-0449984b8dec : Booting up
[ WARN] [1415274159.599598244]: (MIRA) /robot/#EBC7_46dbca00-c353-4530-aa52-1e7333847890 : Booting up
[WARNING ] 2014-Nov-06 12:42:39.599515 /robot/#EBC7_46dbca00-c353-4530-aa52-1e7333847890 : Booting up
(It's important because our switch is powered from there.)
If after waiting for that time, we stop the launchfile and start it again, the power goes off. Both Status and Error lights are off, Run is green.
I've now been waiting for almost 10 minutes for it to come back up, to no avail. Will update when/if it does.
[ INFO] [1415275687.314946137]: Not loading with MIRA multiprocess support.
**************************************************************
** This software uses MetraLabs 'MIRA Commercial Edition'. **
** http://www.metralabs.com **
** Copyright (C) MetraLabs GmbH, Germany **
** **
** License information: **
** License ID : 10390-0001 **
** Issue date : 2013-Jul-24 07:12:38.849260 **
** Vendor : MetraLabs GmbH, Germany **
** Licensee : RWTH Aachen **
** **
** Redistribution and modification of this software is **
** strictly prohibited. **
**************************************************************
[ WARN] [1415275687.655872109]: (MIRA) Node 'Display' is missing and no such attribute was found, in tag starting at: (0)
[WARNING ] 2014-Nov-06 13:08:07.655758 Node 'Display' is missing and no such attribute was found, in tag starting at: (0)
[ WARN] [1415275687.827504729]: (MIRA) Node 'StatusDisplay' is missing and no such attribute was found, in tag starting at: (0)
[WARNING ] 2014-Nov-06 13:08:07.827431 Node 'StatusDisplay' is missing and no such attribute was found, in tag starting at: (0)
[ WARN] [1415275687.959619756]: (MIRA) Failed to write SDO node(0x17) index(0x2006) subindex (0x03), in tag starting at: (0)
[WARNING ] 2014-Nov-06 13:08:07.959539 Failed to write SDO node(0x17) index(0x2006) subindex (0x03), in tag starting at: (0)
[ WARN] [1415275687.967489300]: (MIRA) Node 'Head' is missing and no such attribute was found, in tag starting at: (0)
[WARNING ] 2014-Nov-06 13:08:07.967429 Node 'Head' is missing and no such attribute was found, in tag starting at: (0)
[ WARN] [1415275688.099380364]: (MIRA) /robot/#MainControlUnit_b3e5bd2c-579b-4e47-964d-f5ed5e9d0c1f : Booting up
[WARNING ] 2014-Nov-06 13:08:08.099245 /robot/#MainControlUnit_b3e5bd2c-579b-4e47-964d-f5ed5e9d0c1f : Booting up
[ WARN] [1415275690.330270670]: (MIRA) /robot/#EBC7_fa72cdda-b094-40d8-aa2d-790588c8d5de : Booting up
[WARNING ] 2014-Nov-06 13:08:10.330189 /robot/#EBC7_fa72cdda-b094-40d8-aa2d-790588c8d5de : Booting up
[ INFO] [1415275692.481173170]: Creating G5 with modules [Drive Charger EBC Display Head]
[ INFO] [1415275692.502259068]: Creating SCITOS G5 instance.
[ INFO] [1415275692.502481382]: Initialising Drive module..
[ INFO] [1415275692.502662322]: Initialising Charger module..
[ INFO] [1415275692.526002584]: Initialising EBC module..
[ INFO] [1415275692.586605939]: Initialising Display module..
[ INFO] [1415275692.617534864]: Initialising Head module..
[ INFO] [1415275692.745918798]: Reconfigure request on ScitosDisplay module.
[ INFO] [1415275692.774230685]: Going into main loop.
During the time between the WARNING and INFO messages (for about 3-4 seconds) the Status light is orange, power flows, but then switches off again.
Another thing I noted: On the robot's small screen on the side, in the "EBC Menu", all three EBC 7-0 entries go on for the time there's power, and then all switch back to OFF. If I turn on the 12V one manually, we have power again.
By default, the scitos_mira driver disables all ports from EBC0 and EBC1 no matter what the status was before you launched it. Previously, there was a file scitos_mira/cfg/EBCParameters.cfg where you could change your default values but this does not exist in the release debian version any more.
@marc-hanheide told me that there is probably a way to set these parameters in the launch file but I haven't figured that out so far and didn't have time to investigate it further.
The file isn't there, simply because it is a source file. the correct way of doing this is to set a <param> in the launch file (see https://github.com/strands-project/scitos_drivers/blob/hydro-devel/scitos_mira/launch/scitos_mira.launch). We could of course out different defaults in the released packages (should everything be one?). But you can also set this is the launch file. I want to get the views of @cburbridge, @hawesie, and @cdondrup on this too, if possible.
Would it be possible to just no change the state ot the outputs and rather leave them as they were before you launched the file? There is the possibility to set the EBC ports to a default state when you turn on the robot - so you actually don't have to define defaults twice.
I don't know, @cburbridge should.
There is the parameter set:
/EBC/Port0_12V_Enabled
/EBC/Port0_24V_Enabled
/EBC/Port0_5V_Enabled
/EBC/Port1_12V_Enabled
/EBC/Port1_24V_Enabled
/EBC/Port1_5V_Enabled
Which should allow you to set the state of the EBC in the linked launch file. This means on the other hand that those would have to be added as arguments to the launch file so that you can freely configure them on start-up.
We could also just set the default value of all the EBCs to true... Not sure if that would have any negative effect.
If it doesn't have negatives, I'd be in favor of all on by default, that'd reduce complexity.
changed in #71 shall be released shortly
Just to clarify, I didn't mean that as an OR. I think we should definitely add the arguments to the launch file and maybe additionally set the defaults to True
true, but setting them on by default also makes sense IMO