Bonjour,
Depuis le début de la semaine nous rencontrons un problème avec un des moteurs de notre Reachy 2021, notamment celui au niveau de la pince qui a l’ID 17.
Nous avions réussi à le lancer et à le faire bouger il y a de ça 1 mois mais impossible aujourd’hui. Lors de l’activation du moteur tous les moteurs ont leurs LEDs qui clignotent.
Nous avons alors exécuté quelques commandes pour voir d’où pourrait venir le problème avec les résultats suivant :
Première commande :
systemctl --user status reachy_sdk_server.service
Loaded: loaded (/home/reachy/.config/systemd/user/reachy_sdk_server.service; enabled; vendor preset: enabled)
Active: active (running) since Mon 2025-03-03 11:51:03 CET; 1h 41min ago
Main PID: 1356 (bash)
CGroup: /user.slice/user-1000.slice/user@1000.service/reachy_sdk_server.service
├─1356 /usr/bin/bash /home/reachy/reachy_ws/src/reachy_sdk_server/launch_all.bash
├─1576 /usr/bin/python3 /opt/ros/foxy/bin/ros2 launch reachy_sdk_server run_everything.launch.py
├─1601 /opt/ros/foxy/lib/robot_state_publisher/robot_state_publisher /home/reachy/reachy_ws/install/reachy_description/share/reachy_description/urdf/reachy.URDF --ros-args
├─1603 /usr/bin/python3 /home/reachy/reachy_ws/install/reachy_kinematics/lib/reachy_kinematics/arm_kinematics_service --ros-args
├─1607 /usr/bin/python3 /home/reachy/reachy_ws/install/reachy_controllers/lib/reachy_controllers/camera_publisher --ros-args
├─1609 /usr/bin/python3 /home/reachy/reachy_ws/install/reachy_focus/lib/reachy_focus/camera_focus --ros-args
├─1611 /usr/bin/python3 /home/reachy/reachy_ws/install/reachy_controllers/lib/reachy_controllers/camera_zoom_service --ros-args
├─1613 /usr/bin/python3 /home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_sdk_server --ros-args
└─1615 /usr/bin/python3 /home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/camera_server --ros-args
Mar 03 13:32:38 reachy bash[1576]: [reachy_sdk_server-7] [INFO] [1741005158.611875785] [reachy_sdk_server]: service get_joint_full_state timeout, trying again…
Mar 03 13:32:39 reachy bash[1576]: [reachy_sdk_server-7] [INFO] [1741005159.612921846] [reachy_sdk_server]: service get_joint_full_state timeout, trying again…
Mar 03 13:32:40 reachy bash[1576]: [reachy_sdk_server-7] [INFO] [1741005160.613821147] [reachy_sdk_server]: service get_joint_full_state timeout, trying again…
Mar 03 13:32:41 reachy bash[1576]: [reachy_sdk_server-7] [INFO] [1741005161.614988282] [reachy_sdk_server]: service get_joint_full_state timeout, trying again…
Mar 03 13:32:42 reachy bash[1576]: [reachy_sdk_server-7] [INFO] [1741005162.616079721] [reachy_sdk_server]: service get_joint_full_state timeout, trying again…
Mar 03 13:32:43 reachy bash[1576]: [reachy_sdk_server-7] [INFO] [1741005163.618979529] [reachy_sdk_server]: service get_joint_full_state timeout, trying again…
Mar 03 13:32:44 reachy bash[1576]: [reachy_sdk_server-7] [INFO] [1741005164.620502199] [reachy_sdk_server]: service get_joint_full_state timeout, trying again…
Mar 03 13:32:45 reachy bash[1576]: [reachy_sdk_server-7] [INFO] [1741005165.621421198] [reachy_sdk_server]: service get_joint_full_state timeout, trying again…
Mar 03 13:32:46 reachy bash[1576]: [reachy_sdk_server-7] [INFO] [1741005166.623471113] [reachy_sdk_server]: service get_joint_full_state timeout, trying again…
Mar 03 13:32:47 reachy bash[1576]: [reachy_sdk_server-7] [INFO] [1741005167.625323301] [reachy_sdk_server]: service get_joint_full_state timeout, trying again…
Deuxième commande :
cd ~/dev/reachy_pyluos_hal
python3 -m reachy_pyluos_hal.discovery
/dev/ttyUSB1
{0: [LuosContainer(id=1, alias=‘gate’, type=‘Gate’)], 2: [LuosContainer(id=2, alias=‘dxl_30’, type=‘DynamixelMotor’), LuosContainer(id=3, alias=‘dxl_31’, type=‘DynamixelMotor’)], 5: [LuosContainer(id=4, alias=‘orbita_40’, type=‘ControllerMotor’)]}
/dev/ttyUSB0
{0: [LuosContainer(id=1, alias=‘gate’, type=‘Gate’)], 2: [LuosContainer(id=2, alias=‘dxl_0’, type=‘DynamixelMotor’), LuosContainer(id=3, alias=‘dxl_10’, type=‘DynamixelMotor’), LuosContainer(id=4, alias=‘dxl_11’, type=‘DynamixelMotor’), LuosContainer(id=5, alias=‘dxl_12’, type=‘DynamixelMotor’), LuosContainer(id=6, alias=‘dxl_13’, type=‘DynamixelMotor’), LuosContainer(id=7, alias=‘dxl_14’, type=‘DynamixelMotor’), LuosContainer(id=8, alias=‘dxl_15’, type=‘DynamixelMotor’), LuosContainer(id=9, alias=‘dxl_16’, type=‘DynamixelMotor’)], 11: [LuosContainer(id=10, alias=‘load_10’, type=‘Load’)]}
Troisième commande :
systemctl --user status reachy_sdk_server.service
Loaded: loaded (/home/reachy/.config/systemd/user/reachy_sdk_server.service; enabled; vendor preset: enabled)
Active: inactive (dead) since Mon 2025-03-03 13:48:05 CET; 3min 9s ago
Process: 1356 ExecStart=/usr/bin/bash /home/reachy/reachy_ws/src/reachy_sdk_server/launch_all.bash (code=killed, signal=TERM)
Main PID: 1356 (code=killed, signal=TERM)
Mar 03 13:47:58 reachy bash[1581]: [reachy_sdk_server-7] [INFO] [1741006078.694276355] [reachy_sdk_server]: service get_joint_full_state timeout, trying again…
Mar 03 13:47:59 reachy bash[1581]: [reachy_sdk_server-7] [INFO] [1741006079.695490213] [reachy_sdk_server]: service get_joint_full_state timeout, trying again…
Mar 03 13:48:00 reachy bash[1581]: [reachy_sdk_server-7] [INFO] [1741006080.696745826] [reachy_sdk_server]: service get_joint_full_state timeout, trying again…
Mar 03 13:48:01 reachy bash[1581]: [reachy_sdk_server-7] [INFO] [1741006081.698410347] [reachy_sdk_server]: service get_joint_full_state timeout, trying again…
Mar 03 13:48:02 reachy bash[1581]: [reachy_sdk_server-7] [INFO] [1741006082.699572668] [reachy_sdk_server]: service get_joint_full_state timeout, trying again…
Mar 03 13:48:03 reachy bash[1581]: [reachy_sdk_server-7] [INFO] [1741006083.701089856] [reachy_sdk_server]: service get_joint_full_state timeout, trying again…
Mar 03 13:48:04 reachy bash[1581]: [reachy_sdk_server-7] [INFO] [1741006084.703754926] [reachy_sdk_server]: service get_joint_full_state timeout, trying again…
Mar 03 13:48:05 reachy systemd[1349]: Stopping Reachy SDK server service…
Mar 03 13:48:05 reachy systemd[1349]: reachy_sdk_server.service: Succeeded.
Mar 03 13:48:05 reachy systemd[1349]: Stopped Reachy SDK server service.
Nous n’arrivons pas à voir d’où vient le problème et comment le résoudre.
Cordialement,
Thomas & Lucien