Hi Pollen Robotics team,
I have been unable to start up the ReachySDK for Reachy 2023 due to this error:
Apr 03 03:21:39 reachy-2023-0001 systemd[1640]: Starting Reachy SDK server service...
Apr 03 03:21:41 reachy-2023-0001 systemd[1640]: Started Reachy SDK server service.
Apr 03 03:21:47 reachy-2023-0001 reachy_sdk_server[1934]: [INFO] [launch]: All log files can be found below /home/reachy/.ros/log/2026-04-03-03-21-47-547085-reachy-2023-0001-1934
Apr 03 03:21:47 reachy-2023-0001 reachy_sdk_server[1934]: [INFO] [launch]: Default logging verbosity is set to INFO
Apr 03 03:21:47 reachy-2023-0001 reachy_sdk_server[1934]: [ERROR] [launch]: Caught exception in launch (see debug for traceback): Caught multiple exceptions when trying to load file of format [py]:
Apr 03 03:21:47 reachy-2023-0001 reachy_sdk_server[1934]: - DxlCommunicationError: could not parse received data bytearray(b'\x00') after sending DxlPingPacket(id=0)
Apr 03 03:21:47 reachy-2023-0001 reachy_sdk_server[1934]: - InvalidFrontendLaunchFileError: The launch file may have a syntax error, or its format is unknown
Apr 03 03:21:48 reachy-2023-0001 systemd[1640]: reachy_sdk_server.service: Main process exited, code=exited, status=1/FAILURE
Apr 03 03:21:48 reachy-2023-0001 systemd[1640]: reachy_sdk_server.service: Failed with result 'exit-code'.
Apr 03 03:21:48 reachy-2023-0001 systemd[1640]: reachy_sdk_server.service: Consumed 2.253s CPU time.
I tried the reachy-discovery command to see if there is some disconnected motor and this is the output:
reachy@reachy-2023-0001:~$ reachy-discovery
Scanning if there are any missing motors for Reachy full_kit...
Traceback (most recent call last):
File "/home/reachy/.local/lib/python3.10/site-packages/pypot/dynamixel/io/abstract_io.py", line 515, in __real_read
header = self._protocol.DxlPacketHeader.from_string(data)
File "/home/reachy/.local/lib/python3.10/site-packages/pypot/dynamixel/protocol/v1.py", line 40, in from_string
raise ValueError('try to parse corrupted data ({})'.format(header))
ValueError: try to parse corrupted data (bytearray(b'\x00'))
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/home/reachy/.local/bin/reachy-discovery", line 33, in <module>
sys.exit(load_entry_point('reachy-utils', 'console_scripts', 'reachy-discovery')())
File "/home/reachy/.local/lib/python3.10/site-packages/reachy_utils/discovery.py", line 147, in scan
missing_motors = get_missing_motors_reachy()
File "/home/reachy/.local/lib/python3.10/site-packages/reachy_utils/discovery.py", line 129, in get_missing_motors_reachy
missing_motors = get_missing_motors_arm(part, missing_motors)
File "/home/reachy/.local/lib/python3.10/site-packages/reachy_utils/discovery.py", line 55, in get_missing_motors_arm
scan = dxl_io.scan(range(40))
File "/home/reachy/.local/lib/python3.10/site-packages/pypot/dynamixel/io/abstract_io.py", line 221, in scan
return [id for id in ids if self.ping(id)]
File "/home/reachy/.local/lib/python3.10/site-packages/pypot/dynamixel/io/abstract_io.py", line 221, in <listcomp>
return [id for id in ids if self.ping(id)]
File "/home/reachy/.local/lib/python3.10/site-packages/pypot/dynamixel/io/abstract_io.py", line 214, in ping
self._send_packet(pp, error_handler=None)
File "/home/reachy/.local/lib/python3.10/site-packages/pypot/dynamixel/io/abstract_io.py", line 531, in _send_packet
return self.__real_send(instruction_packet, wait_for_status_packet, _force_lock)
File "/home/reachy/.local/lib/python3.10/site-packages/pypot/dynamixel/io/abstract_io.py", line 499, in __real_send
status_packet = self.__real_read(instruction_packet, _force_lock=True)
File "/home/reachy/.local/lib/python3.10/site-packages/pypot/dynamixel/io/abstract_io.py", line 521, in __real_read
raise DxlCommunicationError(self, msg, instruction_packet)
pypot.dynamixel.io.abstract_io.DxlCommunicationError: could not parse received data bytearray(b'\x00') after sending DxlPingPacket(id=0)
I think this error is coming from motors of the two arms. I noticed that when plugging in the power cord and turning the switch on to power the motors, the Dynamixel shoulder motors would light up briefly before, but do not light up now. I suspect maybe not enough power is being supplied to the arm motors for some reason? The computer can still turn on fine and mobile base also seems fine, MobileBaseSDK can still start up.
I was wondering there may be suggestions on what issues to check for and hopefully fix?
Thank you very much!
