Reachy2 Gripper Error

alexandros · November 21, 2025, 10:47am

Hi I am getting following error and the core service cannot start:

ros2_control_node-2] [ERROR]: Failed to init dxl_controller with config file: “/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/grippers.yaml”

[ros2_control_node-2] [WARN]: System hardware component ‘gripper’ from plugin ‘dynamixel_2joints_system_hwi/DynamixelSystem’ failed to initialize.

ethercat_master_server-1] [2025-11-21T09:59:20Z INFO server] New client - update period of 0.002s

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO server] Done!

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO poulpe_ethercat_controller] Slave 3, setup done! Current state: SwitchedOn

core | [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/camera/camera’ in container ‘/camera/camera_container’

core | [component_container-10] [11/21 09:59:20.968190][info][293][DeviceManager.cpp:24] - Name: Orbbec Gemini 336, PID: 0x0803, SN/ID: CP7X54P0002F, Connection: USB3.2

core | [component_container-10] [11/21 09:59:20.967713][info][293][DeviceManager.cpp:15] Current found device(s): (1)

core | [component_container-10] [11/21 09:59:20.967090][info][293][LinuxPal.cpp:166] Create PollingDeviceWatcher!

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO poulpe_ethercat_controller] Slave 3, inital state: SwitchOnDisabled

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO server] Setup Slave LeftWristOrbita3d (id: 3)…

core | [component_container-10] [11/21 09:59:20.963693][info][293][LinuxPal.cpp:32] createObPal: create LinuxPal!

core | [component_container-10] [11/21 09:59:20.963212][info][293][Context.cpp:73] Work directory=/home/reachy, SDK version=v1.10.18-20250103-27bf2f6

core | [component_container-10] [11/21 09:59:20.962391][info][293][Context.cpp:68] Context created with config: /home/reachy/reachy_ws/install/orbbec_camera/share/orbbec_camera/config/OrbbecSDKConfig_v1.0.xml

core | [component_container-10] [INFO]: Instantiate class: rclcpp_components::NodeFactoryTemplate

core | [component_container-10] [INFO]: Found class: rclcpp_components::NodeFactoryTemplate

core | [rplidar_scan_publisher-3] [INFO]: current scan mode: DenseBoost, sample rate: 32 Khz, max_distance: 30.0 m, scan frequency:20.0 Hz,

core | [component_container-10] [INFO]: Load Library: /home/reachy/reachy_ws/install/orbbec_camera/lib/liborbbec_camera.so

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO server] New client - update period of 0.002s

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO server] Done!

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO poulpe_ethercat_controller] Slave 2, setup done! Current state: SwitchedOn

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO poulpe_ethercat_controller] Slave 2, inital state: SwitchOnDisabled

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO server] Setup Slave LeftElbowOrbita2d (id: 2)…

core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : OK.

core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : 0

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO server] New client - update period of 0.002s

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO server] Done!

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO poulpe_ethercat_controller] Slave 1, setup done! Current state: SwitchedOn

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO poulpe_ethercat_controller] Slave 1, inital state: SwitchOnDisabled

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO server] Setup Slave LeftShoulderOrbita2d (id: 1)…

core | [rplidar_scan_publisher-3] [INFO]: Hardware Rev: 18

core | [rplidar_scan_publisher-3] [INFO]: Firmware Ver: 1.01

core | [rplidar_scan_publisher-3] [INFO]: RPLIDAR S/N: 74FFE386C8E69FC2B8EB9CF4F4204B71

core | [robot_state_publisher-6] [WARN]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO server] New client - update period of 0.002s

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO server] Done!

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO poulpe_ethercat_controller] Slave 5, setup done! Current state: SwitchedOn

core | [rplidar_scan_publisher-3] [INFO]: RPLIDAR running on ROS2 package rplidar_ros2.ROS2 SDK Version:1.0.1, RPLIDAR SDK Version:2.0.0

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO poulpe_ethercat_controller] Slave 5, inital state: SwitchOnDisabled

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO server] Setup Slave RightWristOrbita3d (id: 5)…

core | [INFO] [rosbag-13]: process started with pid [299]

core | [INFO] [dynamic_state_router-12]: process started with pid [297]

core | [INFO] [goto_server-11]: process started with pid [295]

core | [INFO] [component_container-10]: process started with pid [293]

core | [INFO] [reachy_grpc_video_sdk_server-9]: process started with pid [291]

core | [INFO] [joint_state_broadcaster-7]: process started with pid [287]

core | [INFO] [robot_state_publisher-6]: process started with pid [285]

core | [INFO] [fake_gz_interface-5]: process started with pid [283]

core | [INFO] [hal-4]: process started with pid [281]

core | [INFO] [rplidar_scan_publisher-3]: process started with pid [279]

core | [INFO] [reachy_sdk_audio_server-8]: process started with pid [289]

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO server] New client - update period of 0.002s

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO server] Done!

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO poulpe_ethercat_controller] Slave 4, setup done! Current state: SwitchedOn

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO poulpe_ethercat_controller] Slave 4, inital state: SwitchOnDisabled

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO server] Setup Slave RightElbowOrbita2d (id: 4)…

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO server] New client - update period of 0.002s

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO server] Done!

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO poulpe_ethercat_controller] Slave 6, setup done! Current state: SwitchedOn

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO poulpe_ethercat_controller] Slave 6, inital state: SwitchOnDisabled

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO server] Setup Slave RightShoulderOrbita2d (id: 6)…

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO server] New client - update period of 0.002s

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO server] Done!

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO poulpe_ethercat_controller] Slave 0, setup done! Current state: SwitchedOn

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO poulpe_ethercat_controller] Slave 0, inital state: SwitchOnDisabled

core | [ethercat_master_server-1] [2025-11-21T09:59:20Z INFO server] Setup Slave NeckOrbita3d (id: 0)…

core | [ros2_control_node-2] [33m[WARN]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use ‘~/robot_description’ topic from ‘robot_state_publisher’ instead.[0m

core | [INFO] [ros2_control_node-2]: process started with pid [130]

core | [ethercat_master_server-1] [2025-11-21T09:59:17Z INFO server] POULPE controller ready!

core | [ethercat_master_server-1] [2025-11-21T09:59:17Z INFO ethercat_controller::ethercat_controller] Master and all slaves operational!

core | [ethercat_master_server-1] [2025-11-21T09:59:16Z INFO ethercat_controller::ethercat_controller] Slave 6 firmware version: “b122e4b18f310b667d11fb29587a5e277fa91787”

core | [ethercat_master_server-1] [2025-11-21T09:59:16Z INFO ethercat_controller::ethercat_controller] Slave 6, DXL_ID: 42

core | [ethercat_master_server-1] [2025-11-21T09:59:16Z INFO ethercat_controller::ethercat_controller] Slave 5 firmware version: “b122e4b18f310b667d11fb29587a5e277fa91787”

core | [ethercat_master_server-1] [2025-11-21T09:59:16Z INFO ethercat_controller::ethercat_controller] Slave 5, DXL_ID: 42

core | [ethercat_master_server-1] [2025-11-21T09:59:16Z INFO ethercat_controller::ethercat_controller] Slave 4 firmware version: “b122e4b18f310b667d11fb29587a5e277fa91787”

core | [ethercat_master_server-1] [2025-11-21T09:59:16Z INFO ethercat_controller::ethercat_controller] Slave 4, DXL_ID: 42

core | [ethercat_master_server-1] [2025-11-21T09:59:16Z INFO ethercat_controller::ethercat_controller] Slave 3 firmware version: “b122e4b18f310b667d11fb29587a5e277fa91787”

core | [ethercat_master_server-1] [2025-11-21T09:59:16Z INFO ethercat_controller::ethercat_controller] Slave 3, DXL_ID: 42

core | [ethercat_master_server-1] [2025-11-21T09:59:16Z INFO ethercat_controller::ethercat_controller] Slave 2 firmware version: “b122e4b18f310b667d11fb29587a5e277fa91787”

core | [ethercat_master_server-1] [2025-11-21T09:59:16Z INFO ethercat_controller::ethercat_controller] Slave 2, DXL_ID: 42

core | [ethercat_master_server-1] [2025-11-21T09:59:16Z INFO ethercat_controller::ethercat_controller] Slave 1 firmware version: “b122e4b18f310b667d11fb29587a5e277fa91787”

core | [ethercat_master_server-1] [2025-11-21T09:59:16Z INFO ethercat_controller::ethercat_controller] Slave 1, DXL_ID: 42

core | [ethercat_master_server-1] [2025-11-21T09:59:16Z INFO ethercat_controller::ethercat_controller] Slave 0 firmware version: “b122e4b18f310b667d11fb29587a5e277fa91787”

core | [ethercat_master_server-1] [2025-11-21T09:59:16Z INFO ethercat_controller::ethercat_controller] Slave 0, DXL_ID: 42

core | [ethercat_master_server-1] [2025-11-21T09:59:16Z INFO ethercat_controller::ethercat_controller] Slave “RightShoulderOrbita2d” at position 6

core | [ethercat_master_server-1] [2025-11-21T09:59:16Z INFO ethercat_controller::ethercat_controller] Slave “RightWristOrbita3d” at position 5

core | [ethercat_master_server-1] [2025-11-21T09:59:16Z INFO ethercat_controller::ethercat_controller] Slave “RightElbowOrbita2d” at position 4

core | [ethercat_master_server-1] [2025-11-21T09:59:16Z INFO ethercat_controller::ethercat_controller] Slave “LeftWristOrbita3d” at position 3

core | [ethercat_master_server-1] [2025-11-21T09:59:16Z INFO ethercat_controller::ethercat_controller] Slave “LeftElbowOrbita2d” at position 2

core | [ethercat_master_server-1] [2025-11-21T09:59:16Z INFO ethercat_controller::ethercat_controller] Slave “LeftShoulderOrbita2d” at position 1

core | [ethercat_master_server-1] [2025-11-21T09:59:16Z INFO ethercat_controller::ethercat_controller] Slave “NeckOrbita3d” at position 0

core | [ethercat_master_server-1] [2025-11-21T09:59:16Z INFO ethercat_controller::ethercat_controller] Found 7 slaves

core | [INFO] [ethercat_master_server-1]: process started with pid [108]

core |

core | --------------------------------------------------

core | Launching nodes…

core | --------------------------------------------------

core | [INFO] [launch.user]:

core |

core | robot_model “dvt”

core | grippers_config “/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/grippers.yaml”

core | antenna_config “/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/antennas.yaml”

core | left_wrist_config “/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_wrist_poulpe3d.yaml”

core | left_elbow_config “/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_elbow_poulpe2d.yaml”

core | left_shoulder_config “/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_shoulder_poulpe2d.yaml”

core | right_wrist_config “/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_wrist_poulpe3d.yaml”

core | right_elbow_config “/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_elbow_poulpe2d.yaml”

core | right_shoulder_config “/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_shoulder_poulpe2d.yaml”

core | neck_config “/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/neck.yaml”

core | robot_config full_kit

core | depth_camera true

core | [INFO] [launch.user]: Reachy URDF config :

core |

core | robot_model full_kit

core | [INFO] [launch.user]: Reachy config :

core | Reachy config loaded successfully

core | No reachy2 model specified r2-0002, defaulting to PVT.

core | Validating configuration files…

core |

core | Replaced mobile_base.serial_number MB-001 => MB-0032

core | Replaced serial_number reachy2-pvt-default => r2-0002

core | [93m[reachy.yaml] configuration override[0m

core |

core | --------------------------------------------------

core | Configuration

core | --------------------------------------------------

core | [INFO] [launch.user]:

core | [INFO] [launch]: Default logging verbosity is set to INFO

core | [INFO] [launch]: All log files can be found below /home/reachy/.ros/log/2025-11-21-09-59-15-691241-r2-0002-107

core | Sound config written to ~/.asoundrc

core | Buffer Size: 2048

core | Period Size: 512

core | Source Card: 1,0

core | Sink Card: 1,0

core | ALSA configuration generated with the following settings:

core | Input : Rode, Output: Rode

Attaching to core

Container core Created

Container core Creating

Started Reachy2 Core.

What a clear sky to launch a [core] container

Starting Reachy2 Core…

Stopped Reachy2 Core.

reachy2-core.service: Scheduled restart job, restart counter is at 20.

reachy2-core.service: Deactivated successfully.

Container core Removed

Container core Removing

Container core Stopped

Container core Stopping

[Kcore exited with code 0

core | Playing WAVE ‘/home/reachy/dev/reachy2_sounds/MA_BANT_Bubbles_Pops_2.wav’ : Signed 24 bit Little Endian in 3bytes, Rate 48000 Hz, Stereo

core | [ERROR] [hal-4]: process has died [pid 281, exit code -9, cmd ‘/home/reachy/reachy_ws/install/zuuu_hal/lib/zuuu_hal/hal --ros-args --params-file /home/reachy/reachy_ws/install/zuuu_hal/share/zuuu_hal/config/params.yaml --params-file /tmp/launch_params_m8swxp32’].

core | [INFO] [hal-4]: sending signal ‘SIGKILL’ to process[hal-4]

core | [ERROR] [hal-4]: process[hal-4] failed to terminate ‘10.0’ seconds after receiving ‘SIGTERM’, escalating to ‘SIGKILL’

core | [INFO] [hal-4]: sending signal ‘SIGTERM’ to process[hal-4]

core | [ERROR] [hal-4]: process[hal-4] failed to terminate ‘5’ seconds after receiving ‘SIGINT’, escalating to ‘SIGTERM’

core | [INFO] [component_container-10]: process has finished cleanly [pid 293]

core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running

core | [INFO] [launch.user]: Critical node failed : [ethercat_master_server]

core | [ERROR] [ethercat_master_server-1]: process has died [pid 108, exit code -15, cmd ‘/bin/bash -c $HOME/dev/poulpe_ethercat_controller/start_ethercat_server.sh /home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/robot_ethercat_config.yaml’].

core | [INFO] [ethercat_master_server-1]: sending signal ‘SIGTERM’ to process[ethercat_master_server-1]

core | [ERROR] [ethercat_master_server-1]: process[ethercat_master_server-1] failed to terminate ‘2’ seconds after receiving ‘SIGINT’, escalating to ‘SIGTERM’

core | [ethercat_master_server-1] [2025-11-21T09:58:58Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 942.72 Hz

core | [INFO] [rplidar_scan_publisher-3]: process has finished cleanly [pid 279]

core | [INFO] [launch.user]: Critical node failed : [dynamic_state_router]

core | [ERROR] [dynamic_state_router-12]: process has died [pid 297, exit code -2, cmd ‘/home/reachy/reachy_ws/install/dynamic_state_router/lib/dynamic_state_router/dynamic_state_router /home/reachy/reachy_ws/install/reachy_bringup/share/reachy_bringup/config/reachy_full_kit_controllers.yaml --ros-args’].

core | [INFO] [rosbag-13]: process has finished cleanly [pid 299]

core | [INFO] [launch.user]: Critical node failed : [fake_gz_interface]

core | [ERROR] [fake_gz_interface-5]: process has died [pid 283, exit code -2, cmd ‘/home/reachy/reachy_ws/install/reachy_gazebo/lib/reachy_gazebo/fake_gz_interface --ros-args --params-file /tmp/launch_params_efwrzyfe’].

core | [INFO] [launch.user]: Critical node failed : [goto_server]

core | [ERROR] [goto_server-11]: process has died [pid 295, exit code -2, cmd ‘/home/reachy/reachy_ws/install/pollen_goto/lib/pollen_goto/goto_server --ros-args’].

core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): cannot use Destroyable because destruction was requested

core | [ERROR] [joint_state_broadcaster-7]: process has died [pid 287, exit code -2, cmd ‘/opt/ros/humble/lib/controller_manager/spawner joint_state_broadcaster --controller-manager /controller_manager --ros-args -r __node:=joint_state_broadcaster’].

core | [rplidar_scan_publisher-3] [INFO]: Stop motor

core | [hal-4] RuntimeError: Default zuuu_hal shutdown

core | [hal-4] raise RuntimeError(msg)

core | [hal-4] File “/home/reachy/reachy_ws/build/zuuu_hal/zuuu_hal/zuuu_hal.py”, line 966, in emergency_shutdown

core | [hal-4] zuuu_hal.emergency_shutdown(“Default zuuu_hal shutdown”)

core | [hal-4] File “/home/reachy/reachy_ws/build/zuuu_hal/zuuu_hal/zuuu_hal.py”, line 1495, in main

core | [hal-4] sys.exit(load_entry_point(‘zuuu-hal’, ‘console_scripts’, ‘hal’)())

core | [hal-4] File “/home/reachy/reachy_ws/install/zuuu_hal/lib/zuuu_hal/hal”, line 33, in

core | [hal-4] Traceback (most recent call last):

core | [component_container-10] [WARN]: Destroy ~OBCameraNode DONE

core | [INFO] [launch.user]: Critical node failed : [robot_state_publisher]

core | [ERROR] [robot_state_publisher-6]: process has died [pid 285, exit code -11, cmd ‘/opt/ros/humble/lib/robot_state_publisher/robot_state_publisher --ros-args --log-level WARN --ros-args --params-file /tmp/launch_params_9hp8_44h’].

core | [INFO] [launch.user]: Critical node failed : [reachy_grpc_video_sdk_server]

core | [ERROR] [reachy_grpc_video_sdk_server-9]: process has died [pid 291, exit code -2, cmd ‘/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_video_sdk_server --ros-args’].

core | [rosbag-13] [INFO]: Recording stopped

core | [rosbag-13] [INFO]: Event publisher thread: Exiting

core | [rosbag-13] [INFO]: Writing remaining messages from cache to the bag. It may take a while

core | [hal-4] Failed to publish log message to rosout: publisher’s context is invalid, at ./src/rcl/publisher.c:389

core | [hal-4] [WARN]: Emergency shutdown initiated in zuuu_hal: Default zuuu_hal shutdown

core | [hal-4] [ERROR]: KeyboardInterrupt in zuuu_hal

core | [fake_gz_interface-5] KeyboardInterrupt

core | [fake_gz_interface-5] wait_set.wait(timeout_nsec)

core | [fake_gz_interface-5] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py”, line 608, in _wait_for_ready_callbacks

core | [fake_gz_interface-5] return next(self._cb_iter)

core | [fake_gz_interface-5] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py”, line 711, in wait_for_ready_callbacks

core | [fake_gz_interface-5] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec)

core | [fake_gz_interface-5] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py”, line 728, in _spin_once_impl

core | [fake_gz_interface-5] self._spin_once_impl(timeout_sec)

core | [fake_gz_interface-5] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py”, line 739, in spin_once

core | [fake_gz_interface-5] executor.spin_once()

core | [fake_gz_interface-5] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/_init_.py”, line 222, in spin

core | [fake_gz_interface-5] rclpy.spin(publisher)

core | [fake_gz_interface-5] File “/home/reachy/reachy_ws/build/reachy_gazebo/reachy_gazebo/fake_gz_interface.py”, line 283, in main

core | [fake_gz_interface-5] sys.exit(load_entry_point(‘reachy-gazebo’, ‘console_scripts’, ‘fake_gz_interface’)())

core | [fake_gz_interface-5] File “/home/reachy/reachy_ws/install/reachy_gazebo/lib/reachy_gazebo/fake_gz_interface”, line 33, in

core | [fake_gz_interface-5] Traceback (most recent call last):

core | [component_container-10] [WARN]: stop streams

core | [component_container-10] [INFO]: Color frame thread exit!

core | [component_container-10] [WARN]: Stop color frame thread

core | [component_container-10] [WARN]: Stop tf thread

core | [component_container-10] [WARN]: Do destroy ~OBCameraNode

core | [joint_state_broadcaster-7] KeyboardInterrupt

core | [joint_state_broadcaster-7] time.sleep(0.2)

core | [joint_state_broadcaster-7] File “/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py”, line 66, in wait_for_value_or

core | [joint_state_broadcaster-7] node_and_namespace = wait_for_value_or(

core | [joint_state_broadcaster-7] File “/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py”, line 106, in wait_for_controller_manager

core | [joint_state_broadcaster-7] if not wait_for_controller_manager(

core | [joint_state_broadcaster-7] File “/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py”, line 222, in main

core | [joint_state_broadcaster-7] sys.exit(load_entry_point(‘controller-manager==2.42.0’, ‘console_scripts’, ‘spawner’)())

core | [joint_state_broadcaster-7] File “/opt/ros/humble/lib/controller_manager/spawner”, line 33, in

core | [joint_state_broadcaster-7] Traceback (most recent call last):

core | [reachy_grpc_video_sdk_server-9] KeyboardInterrupt

core | [reachy_grpc_video_sdk_server-9] gotit = waiter.acquire(True, timeout)

core | [reachy_grpc_video_sdk_server-9] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py”, line 612, in _wait_for_ready_callbacks

core | [reachy_grpc_video_sdk_server-9] return next(self._cb_iter)

core | [reachy_grpc_video_sdk_server-9] File “/usr/lib/python3.10/threading.py”, line 324, in wait

core | [reachy_grpc_video_sdk_server-9] signaled = self._cond.wait(timeout)

core | [reachy_grpc_video_sdk_server-9] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py”, line 711, in wait_for_ready_callbacks

core | [reachy_grpc_video_sdk_server-9] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec)

core | [reachy_grpc_video_sdk_server-9] File “/usr/lib/python3.10/threading.py”, line 607, in wait

core | [reachy_grpc_video_sdk_server-9] wait_fn(timeout=timeout)

core | [reachy_grpc_video_sdk_server-9] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py”, line 728, in _spin_once_impl

core | [reachy_grpc_video_sdk_server-9] self._spin_once_impl(timeout_sec)

core | [reachy_grpc_video_sdk_server-9] File “/home/reachy/.local/lib/python3.10/site-packages/grpc/_common.py”, line 116, in _wait_once

core | [reachy_grpc_video_sdk_server-9] _wait_once(wait_fn, MAXIMUM_WAIT_TIMEOUT, spin_cb)

core | [reachy_grpc_video_sdk_server-9] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py”, line 739, in spin_once

core | [reachy_grpc_video_sdk_server-9] executor.spin_once()

core | [reachy_grpc_video_sdk_server-9] File “/home/reachy/.local/lib/python3.10/site-packages/grpc/_common.py”, line 156, in wait

core | [reachy_grpc_video_sdk_server-9] return _common.wait(

core | [reachy_grpc_video_sdk_server-9] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/_init_.py”, line 222, in spin

core | [reachy_grpc_video_sdk_server-9] rclpy.spin(self.node)

core | [reachy_grpc_video_sdk_server-9] File “/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/grpc_server/video_server.py”, line 187, in spin_ros

core | [reachy_grpc_video_sdk_server-9] self._target(*self._args, **self._kwargs)

core | [reachy_grpc_video_sdk_server-9] File “/home/reachy/.local/lib/python3.10/site-packages/grpc/_server.py”, line 1494, in wait_for_termination

core | [reachy_grpc_video_sdk_server-9] server.wait_for_termination()

core | [reachy_grpc_video_sdk_server-9] File “/usr/lib/python3.10/threading.py”, line 953, in run

core | [reachy_grpc_video_sdk_server-9] self.run()

core | [reachy_grpc_video_sdk_server-9] File “/home/reachy/reachy_ws/build/reachy_sdk_server/reachy_sdk_server/grpc_server/video_server.py”, line 368, in main

core | [reachy_grpc_video_sdk_server-9] sys.exit(load_entry_point(‘reachy-sdk-server’, ‘console_scripts’, ‘reachy_grpc_video_sdk_server’)())

core | [reachy_grpc_video_sdk_server-9] File “/usr/lib/python3.10/threading.py”, line 1016, in _bootstrap_inner

core | [reachy_grpc_video_sdk_server-9] Traceback (most recent call last):

core | [reachy_grpc_video_sdk_server-9] File “/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_video_sdk_server”, line 33, in

core | [reachy_grpc_video_sdk_server-9] Exception in thread Thread-1 (spin_ros):

core | [reachy_grpc_video_sdk_server-9] Traceback (most recent call last):

core | [component_container-10] [INFO]: signal_handler(signum=2)

Any help would be appreciated. Restarting the system did not solve the error.

Can I disable the faulty gripper in order to continue working for the time being ?

Thank you in advance

Alex.

alexandros · November 21, 2025, 11:44am

Red LED is also active in his left arm, see picture

antun · November 21, 2025, 12:44pm

Hi @alexandros,

It seems that the grippers are not connected.
Could you please try logging into the main pc and running the command ls /dev/grippers to see if the usb connection to them is detected.

alexandros · November 21, 2025, 12:48pm

Hi @antun . I am getting a not found result

bedrock@r2-0002:~$ ls /dev/grippers

ls: cannot access ‘/dev/grippers’: No such file or directory

bedrock@r2-0002:~$ sudo ls/dev/grippers

sudo: ls/dev/grippers: command not found

alexandros · November 21, 2025, 12:56pm

Tried to run some of your python scripts. This happens:

root@reachy2_core:~/reachy_ws/src/ros2_pollen_toolbox/useful_commands# python3 infinite_grooving.py

Reachy SDK example: draw square

INFO:reachy2_sdk.reachy_sdk:Connected to Reachy.

WARNING:reachy2_sdk.reachy_sdk:This Reachy is in REAL mode :

Be careful, you’re controlling the PHYSICAL Reachy.

Turning on Reachy

WARNING:reachy2_sdk.parts.part:Failed to turn on r_hand

WARNING:reachy2_sdk.parts.part:Failed to turn on l_hand

WARNING:reachy2_sdk.parts.part:Failed to turn on r_hand

WARNING:reachy2_sdk.reachy_sdk:Failed to turn on Reachy : [<Arm on=False actuators=

shoulder: <Orbita2d on=False joints=

<OrbitaJoint axis_type="pitch" present_position=3.54 goal_position=3.54 >

<OrbitaJoint axis_type="roll" present_position=14.67 goal_position=14.67 >

>

elbow: <Orbita2d on=False joints=

<OrbitaJoint axis_type="yaw" present_position=-15.64 goal_position=-15.64 >

<OrbitaJoint axis_type="pitch" present_position=-7.52 goal_position=-7.52 >

>

wrist: <Orbita3d on=False joints=

<OrbitaJoint axis_type="roll" present_position=-13.82 goal_position=-13.82 >

<OrbitaJoint axis_type="pitch" present_position=-5.6 goal_position=-5.6 >

<OrbitaJoint axis_type="yaw" present_position=362.76 goal_position=362.76 >

>

gripper: <ParallelGripper on=False joints=

<GripperJoint on=False present_position=152.4 goal_position=152.4 >

>

>, <Arm on=False actuators=

shoulder: <Orbita2d on=False joints=

<OrbitaJoint axis_type="pitch" present_position=0.3 goal_position=0.3 >

<OrbitaJoint axis_type="roll" present_position=-15.21 goal_position=-15.21 >

>

elbow: <Orbita2d on=False joints=

<OrbitaJoint axis_type="yaw" present_position=19.34 goal_position=19.34 >

<OrbitaJoint axis_type="pitch" present_position=-7.78 goal_position=-7.78 >

>

wrist: <Orbita3d on=False joints=

<OrbitaJoint axis_type="roll" present_position=15.71 goal_position=15.71 >

<OrbitaJoint axis_type="pitch" present_position=-10.17 goal_position=-10.17 >

<OrbitaJoint axis_type="yaw" present_position=-365.89 goal_position=-365.89 >

>

gripper: <ParallelGripper on=False joints=

<GripperJoint on=False present_position=152.23 goal_position=152.23 >

>

>, <ParallelGripper on=False joints=

<GripperJoint on=False present_position=152.23 goal_position=152.23 >

>, <ParallelGripper on=False joints=

<GripperJoint on=False present_position=152.4 goal_position=152.4 >

>] are off. Check the robot’s services.

Move to point A, preparing infinite square drawing …

An error occurred: Gripper is off. Close request not sent.

Traceback (most recent call last):

File “/home/reachy/reachy_ws/src/ros2_pollen_toolbox/useful_commands/infinite_grooving.py”, line 170, in

reachy.r_arm.gripper.close()

File “/home/reachy/dev/reachy2-sdk/src/reachy2_sdk/parts/hand.py”, line 130, in close

raise RuntimeError("Gripper is off. Close request not sent.")

RuntimeError: Gripper is off. Close request not sent.

Set to Zero pose …

WARNING:reachy2_sdk.parts.part:r_arm is off. No command sent.

WARNING:reachy2_sdk.parts.part:l_arm is off. No command sent.

Traceback (most recent call last):

File “/home/reachy/reachy_ws/src/ros2_pollen_toolbox/useful_commands/infinite_grooving.py”, line 193, in

reachy.r_arm.gripper.open()

File “/home/reachy/dev/reachy2-sdk/src/reachy2_sdk/parts/hand.py”, line 118, in open

raise RuntimeError("Gripper is off. Open request not sent.")

RuntimeError: Gripper is off. Open request not sent.

antun · November 21, 2025, 12:58pm

Ok so it seems like the USB connection is lost somehow.

Could you please verify that everything is well connected

to the USB plugs of the main PC,
that the U2D2 usb-to-serial converters in the torso of the robot are connected
no USB cables is unplugged from the USB hub in the torso

Perform the hard reboot of the robot

Unplug the battery and all the connectors from the mobile base
Replug them again
Start the robot

alexandros · November 21, 2025, 1:12pm

Every connection seems in place. Hard rebooting did not help. I am in a loop where the Core service cannot start.

alexandros · November 21, 2025, 1:22pm

I managed to enter the core service after plugging and unplugging all usb connectors.

Now the infinite_grooving script is executing, robot moves as it should but the LOG in the dashboard is full of:

core | [ros2_control_node-2] [2025-11-21T13:17:37Z ERROR dynamixel_controller::controller] Error: get_target_torque (left dxl) Error { kind: Unknown, description: “I/O error” }

core | [ros2_control_node-2] [2025-11-21T13:17:37Z ERROR dynamixel_controller::controller] Error: get_current_position (right dxl) Error { kind: Unknown, description: “I/O error” }

core | [ros2_control_node-2] [2025-11-21T13:17:37Z ERROR dynamixel_controller::controller] Error: get_current_position (left dxl) Error { kind: Unknown, description: “I/O error” }

core | [ros2_control_node-2] [2025-11-21T13:17:37Z ERROR dynamixel_controller::controller] Error: set_target_position (right dxl) Error { kind: Unknown, description: “I/O error” }

core | [ros2_control_node-2] [2025-11-21T13:17:37Z ERROR dynamixel_controller::controller] Error: set_target_position (left dxl) Error { kind: Unknown, description: “I/O error” }

core | [ros2_control_node-2] [2025-11-21T13:17:37Z ERROR dynamixel_controller::controller] Error: get_current_torque (right dxl) Error { kind: Unknown, description: “I/O error” }

core | [ros2_control_node-2] [2025-11-21T13:17:37Z ERROR dynamixel_controller::controller] Error: get_current_torque (left dxl) Error { kind: Unknown, description: “I/O error” }

core | [ros2_control_node-2] [2025-11-21T13:17:37Z ERROR dynamixel_controller::controller] Error: get_current_velocity (right dxl) Error { kind: Unknown, description: “I/O error” }

core | [ros2_control_node-2] [2025-11-21T13:17:37Z ERROR dynamixel_controller::controller] Error: get_current_velocity (left dxl) Error { kind: Unknown, description: “I/O error” }

core | [ros2_control_node-2] [2025-11-21T13:17:37Z ERROR dynamixel_controller::controller] Error: set_target_torque (right dxl) Error { kind: Unknown, description: “I/O error” }

core | [ros2_control_node-2] [2025-11-21T13:17:37Z ERROR dynamixel_controller::controller] Error: set_target_torque (left dxl) Error { kind: Unknown, description: “I/O error” }

core | [ros2_control_node-2] [2025-11-21T13:17:37Z ERROR dynamixel_controller::controller] Error: get_target_torque (right dxl) Error { kind: Unknown, description: “I/O error” }