Antenna Articulation No Longer Working

[STEM-Nathan]

Both antennas on my Reachy 2 stopped working simultaneously when running a script through the Python SDK that had them moving back and forth. When I rebooted Reachy to try to resolve the issue, reachy2-core began repeatedly crashing and restarting, preventing the robot from booting normally.

After changing the antennas to Fake Articulation, Reachy was able to boot and operate normally again. The robot is currently usable with the antennas set to fake, but I am unable to use the physical antennas.

[Claire]

Hi @STEM-Nathan,

1. Could you please send us the core logs ? For that, connect to your robot :

ssh bedrock@r2-00XX.local #(password: root)
journalctl -fu reachy2-core

2. Could you check if the antennas are detected :
   ls /dev/antennas

3. If they are not : it can be a false connexion. Could you check whether one of the U2D2s is red (the other one should be blue)?
   

   

4. If that’s the case, could you check that the USB connexion is well plugged ? You can also try to change the microUSB from the U2D2 to the hub (see the image)
   

   

Please tell us how it goes,
Best,
Claire from Pollen Team

[STEM-Nathan]

Thanks for getting back so quick! Here are the logs:

Sep 21 23:23:56 r2-0012 docker[12350]: core  | [ethercat_master_server-1] [2026-09-21T21:23:56Z INFO  poulpe_ethercat_c>
Sep 21 23:23:56 r2-0012 docker[12350]: core  | [ethercat_master_server-1] [2026-09-21T21:23:56Z INFO  poulpe_ethercat_c>
Sep 21 23:23:56 r2-0012 docker[12350]: core  | [ethercat_master_server-1] [2026-09-21T21:23:56Z INFO  server] Done!
Sep 21 23:23:56 r2-0012 docker[12350]: core  | [ethercat_master_server-1] [2026-09-21T21:23:56Z INFO  server] New clien>
Sep 21 23:23:56 r2-0012 docker[12350]: core  | [ros2_control_node-2] [ERROR]: Failed to init dxl_controller with config>
Sep 21 23:23:56 r2-0012 docker[12350]: core  | [ros2_control_node-2] [WARN]: System hardware component 'antenna' from p>
Sep 21 23:23:56 r2-0012 docker[12350]: core  | [ethercat_master_server-1] [2026-09-21T21:23:56Z INFO  server] Setup Sla>
Sep 21 23:23:56 r2-0012 docker[12350]: core  | [ethercat_master_server-1] [2026-09-21T21:23:56Z INFO  poulpe_ethercat_c>
Sep 21 23:23:56 r2-0012 docker[12350]: core  | [ethercat_master_server-1] [2026-09-21T21:23:56Z INFO  poulpe_ethercat_c>
Sep 21 23:23:56 r2-0012 docker[12350]: core  | [ethercat_master_server-1] [2026-09-21T21:23:56Z INFO  server] Done!
Sep 21 23:23:56 r2-0012 docker[12350]: core  | [ethercat_master_server-1] [2026-09-21T21:23:56Z INFO  server] New clien>
Sep 21 23:23:56 r2-0012 docker[12350]: core  | [ethercat_master_server-1] [2026-09-21T21:23:56Z INFO  server] Setup Sla>
Sep 21 23:23:56 r2-0012 docker[12350]: core  | [ethercat_master_server-1] [2026-09-21T21:23:56Z INFO  poulpe_ethercat_c>
Sep 21 23:23:56 r2-0012 docker[12350]: core  | [ethercat_master_server-1] [2026-09-21T21:23:56Z INFO  poulpe_ethercat_c>
Sep 21 23:23:56 r2-0012 docker[12350]: core  | [ethercat_master_server-1] [2026-09-21T21:23:56Z INFO  server] Done!
Sep 21 23:23:56 r2-0012 docker[12350]: core  | [ethercat_master_server-1] [2026-09-21T21:23:56Z INFO  server] New clien>
Sep 21 23:23:56 r2-0012 docker[12350]: core  | [ethercat_master_server-1] [2026-09-21T21:23:56Z INFO  server] Setup Sla>
Sep 21 23:23:56 r2-0012 docker[12350]: core  | [ethercat_master_server-1] [2026-09-21T21:23:56Z INFO  poulpe_ethercat_c>
Sep 21 23:23:56 r2-0012 docker[12350]: core  | [ethercat_master_server-1] [2026-09-21T21:23:56Z INFO  poulpe_ethercat_c>
Sep 21 23:23:56 r2-0012 docker[12350]: core  | [ethercat_master_server-1] [2026-09-21T21:23:56Z INFO  server] Done!
Sep 21 23:23:56 r2-0012 docker[12350]: core  | [ethercat_master_server-1] [2026-09-21T21:23:56Z INFO  server] New clien>
Sep 21 23:23:56 r2-0012 docker[12350]: core  | [INFO] [reachy_sdk_audio_server-8]: process started with pid [352]
Sep 21 23:23:56 r2-0012 docker[12350]: core  | [INFO] [rplidar_scan_publisher-3]: process started with pid [342]
Sep 21 23:23:56 r2-0012 docker[12350]: core  | [INFO] [hal-4]: process started with pid [344]
Sep 21 23:23:56 r2-0012 docker[12350]: core  | [INFO] [fake_gz_interface-5]: process started with pid [346]
Sep 21 23:23:56 r2-0012 docker[12350]: core  | [INFO] [robot_state_publisher-6]: process started with pid [348]
Sep 21 23:23:56 r2-0012 docker[12350]: core  | [INFO] [joint_state_broadcaster-7]: process started with pid [350]
Sep 21 23:23:56 r2-0012 docker[12350]: core  | [INFO] [reachy_grpc_video_sdk_server-9]: process started with pid [354]
Sep 21 23:23:56 r2-0012 docker[12350]: core  | [INFO] [component_container-10]: process started with pid [356]

This is all it shows for the antennas:

/dev/antennas

I also reseated the USB connections. The lights on both U2D2s appear to be red. (Images will be on a separate reply in this thread because I can only attach one at a time)

I haven’t yet tried changing the USB from the U2D2 from the hub but will as soon as I have a replacement cable!

[STEM-Nathan]

[STEM-Nathan]