Ros2_control_node crash (exit code -6) with Dynamixel grippers on Reachy 2 (PVT03)

alvaro_solana · March 3, 2026, 8:15am

Description: We are experiencing a critical crash in the core container when trying to initialize our Reachy 2 (PVT03 unit) with the grippers set to mode: default.

When we configure the reachy.yaml file with mode: fake for the grippers, the system is completely stable and the arms (EtherCAT bus) work perfectly. However, when switching to mode: default, the main control node fails to communicate with the Dynamixel motors, causing the system to crash.

Environment & Observed Behavior:

Power/Hardware: When releasing the E-Stop, the gripper motors do their initial LED blink correctly, confirming they are receiving power.
USB Ports: The host OS and the Docker container perfectly detect the USB-Serial adapters (/dev/ttyUSB0, /dev/ttyUSB1, and /dev/ttyUSB2 are present).
Dynamixel Scan: We ran a Python script using dynamixel_sdk directly inside the core container (with ports freed up). We pinged all possible IDs (1-253) across multiple baudrates (1 Mbps, 4 Mbps, 57600 bps, etc.) on all ports, but we get no response (ping timeout) from any motor.

Specific Error Logs: When starting the core in default mode, the ros2_control_node throws the following sequence of errors before dying:

Dynamixel controller initialization fails: [ERROR]: Failed to init dxl_controller with config file
Failed to load gripper state interfaces: [ERROR]: missing state interfaces: ' l_hand_finger/position ' (and the equivalent for the right hand).
Process death: [ERROR]: process has died [pid 130, exit code -6]

Question for the community/support: Given that the ports open correctly but data packets get no response from the configured IDs (43 and 53), is there any known bug in the humble_1.7.5.2 release that locks the Dynamixel bus? Alternatively, are there any additional baudrate/ID configurations in the gripper .yaml files that we might be missing for PVT units?

Coralie · March 4, 2026, 11:06am

Hello @alvaro_solana

Thanks for all the details.

First could you try logging into the main pc and running the command ls /dev/grippers to see if the usb connection is detected.

Also verify that the micro USB cable between the U2D2 and the USB hub is properly connected. If you have a spare cable, you can try replacing it.

alvaro_solana · March 6, 2026, 7:43am

Hello @Coralie

Great news! You were absolutely right—it was the micro-USB cable.

Even though the system was detecting the connection through ls /dev/grippers, it must have been a “false contact” or a loose connection. After disconnecting and reconnecting the micro-USB cable between the U2D2 and the USB hub (and making sure it was firmly seated), both grippers are now responding and working perfectly!

Thank you so much for the quick support and for pointing me to the exact cable. It saved me a lot of debugging time.

Best regards, Alvaro

alvaro_solana · March 16, 2026, 8:00am

Hello again @Coralie,

I am reopening this issue because, unfortunately, changing the cable did not permanently solve the problem. It seems it was a false positive.

The current behavior is: Every single day upon a cold boot or restarting the robot, the connection to the grippers fails exactly as described before. The only way to make the core container initialize properly is by physically unplugging and replugging the micro-USB cable of the U2D2 adapter while the robot is powered.

Doing a physical power cycle on the U2D2 port fixes it temporarily for that session, which strongly points to a hardware initialization issue, a power state/USB autosuspend problem on the host, or a faulty U2D2 unit on this PVT03.

Since having to manually unplug a cable inside the robot every day is not a viable long-term workflow, could we investigate a permanent solution?

Thank you for the continued support!

Claire · March 16, 2026, 10:37am

Hi @alvaro_solana
Could you add some information to help us debug your issue :

the entire logs when the system is crashing (by ssh to the robot then executing journalctl -fu reachy2-core)
are you able to access ls /dev/grippers when the system is crashing ?
if you restart the core via the dashboard, without touching the cable, does it work ?

It could be that the U2D2 connector has been damaged from being plugged in and unplugged often, since it’s quite fragile. We could send you a replacement U2D2 and a cable, and make a video to show you how to replace it. To do this, could you take a photo of the inside of the robot, near the U2D2, so we can see the current setup?

Thanks and have a nice day,

Claire

alvaro_solana · March 16, 2026, 11:18am

Hi Claire,

Thank you for your quick response and for offering the replacement parts. Here is the information you requested to debug the issue:

1. Entire logs during the crash: Here is the exact output of journalctl -fu reachy2-core when the system tries to boot and fails. As you can see, the ros2_control_node dies (exit code -6) because it cannot find the state interfaces for the grippers, triggering the shutdown of the entire launch:
Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [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”
Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [ros2_control_node-2] [WARN]: System hardware component ‘gripper’ from plugin ‘dynamixel_2joints_system_hwi/DynamixelSystem’ failed to initialize.
Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [ros2_control_node-2] terminate called after throwing an instance of ‘std::runtime_error’
Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [ros2_control_node-2] what(): Wrong state or command interface configuration.
Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [ros2_control_node-2] missing state interfaces:
Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [ros2_control_node-2] ’ l_hand_finger/position ’ ’ l_hand_finger/velocity ’ …
Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [ERROR] [ros2_control_node-2]: process has died [pid 130, exit code -6]

(Note: I have the full console output saved if you need every single line, but this is the core failure).

2. Access to ls /dev/grippers: Yes, /dev/grippers (and the underlying /dev/ttyUSB ports) is completely accessible and detected by the host OS even when the system is crashing. The OS sees the USB perfectly, but the internal pings to the Dynamixel motors time out.

3. Restarting via Dashboard: No, restarting the core via the dashboard without touching the cable does not work. The crash loop continues exactly with the same missing interfaces error. The only way to make it work is by physically unplugging and replugging the micro-USB cable, which physically resets the port’s power state.

4. Photo and Replacement: I agree that the U2D2 port might be damaged or failing to initialize properly on cold boots. I have attached the photo of the inside of the robot, near the U2D2 setup.

Sending a replacement U2D2, a new cable, and the tutorial video sounds like the best approach. Please let me know the next steps.

Best regards,
Alvaro

alvaro_solana · March 16, 2026, 11:19am

Claire · March 16, 2026, 12:31pm

Thanks for your quick answer ! Yes, that would be perfect if you could send me the full console output

alvaro_solana · March 17, 2026, 7:11am

Hi Claire,

No problem at all. Here is the complete console output from the journalctl -fu reachy2-core command during the cold boot sequence and the subsequent crash:

Mar 16 11:55:50 reachy2-pvt03 docker[8552]: core | [INFO] [rplidar_scan_publisher-3]: process has finished cleanly [pid 327]

Mar 16 11:55:51 reachy2-pvt03 docker[8552]: core | [ethercat_master_server-1] [2026-03-16T10:55:51Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 935.24 Hz

Mar 16 11:55:51 reachy2-pvt03 docker[8552]: core | [ERROR] [ethercat_master_server-1]: process[ethercat_master_server-1] failed to terminate ‘2’ seconds after receiving ‘SIGINT’, escalating to ‘SIGTERM’

Mar 16 11:55:51 reachy2-pvt03 docker[8552]: core | [INFO] [ethercat_master_server-1]: sending signal ‘SIGTERM’ to process[ethercat_master_server-1]

Mar 16 11:55:51 reachy2-pvt03 docker[8552]: 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’].

Mar 16 11:55:51 reachy2-pvt03 docker[8552]: core | [INFO] [launch.user]: Critical node failed : [ethercat_master_server]

Mar 16 11:55:51 reachy2-pvt03 docker[8552]: core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running

Mar 16 11:55:53 reachy2-pvt03 docker[8552]: core | [INFO] [component_container-10]: process has finished cleanly [pid 341]

Mar 16 11:55:54 reachy2-pvt03 docker[8552]: core | [ERROR] [hal-4]: process[hal-4] failed to terminate ‘5’ seconds after receiving ‘SIGINT’, escalating to ‘SIGTERM’

Mar 16 11:55:54 reachy2-pvt03 docker[8552]: core | [INFO] [hal-4]: sending signal ‘SIGTERM’ to process[hal-4]

Mar 16 11:55:59 reachy2-pvt03 docker[8552]: core | [ERROR] [hal-4]: process[hal-4] failed to terminate ‘10.0’ seconds after receiving ‘SIGTERM’, escalating to ‘SIGKILL’

Mar 16 11:55:59 reachy2-pvt03 docker[8552]: core | [INFO] [hal-4]: sending signal ‘SIGKILL’ to process[hal-4]

Mar 16 11:55:59 reachy2-pvt03 docker[8552]: core | [ERROR] [hal-4]: process has died [pid 329, 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_qjzcoapm’].

Mar 16 11:55:59 reachy2-pvt03 docker[8552]: 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

Mar 16 11:56:00 reachy2-pvt03 docker[8552]: core exited with code 0

Mar 16 11:56:00 reachy2-pvt03 docker[9751]: Container core Stopping

Mar 16 11:56:00 reachy2-pvt03 docker[9751]: Container core Stopped

Mar 16 11:56:00 reachy2-pvt03 docker[9751]: Container core Removing

Mar 16 11:56:00 reachy2-pvt03 docker[9751]: Container core Removed

Mar 16 11:56:00 reachy2-pvt03 systemd[1]: reachy2-core.service: Deactivated successfully.

Mar 16 11:56:07 reachy2-pvt03 systemd[1]: reachy2-core.service: Scheduled restart job, restart counter is at 5.

Mar 16 11:56:07 reachy2-pvt03 systemd[1]: Stopped Reachy2 Core.

Mar 16 11:56:07 reachy2-pvt03 systemd[1]: Starting Reachy2 Core…

Mar 16 11:56:07 reachy2-pvt03 bash[9835]: What a clear sky to launch a [core] container

Mar 16 11:56:07 reachy2-pvt03 systemd[1]: Started Reachy2 Core.

Mar 16 11:56:07 reachy2-pvt03 docker[9872]: Container core Creating

Mar 16 11:56:07 reachy2-pvt03 docker[9872]: Container core Created

Mar 16 11:56:07 reachy2-pvt03 docker[9872]: Attaching to core

Mar 16 11:56:08 reachy2-pvt03 docker[9872]: core | Input : Rode, Output: Rode

Mar 16 11:56:08 reachy2-pvt03 docker[9872]: core | ALSA configuration generated with the following settings:

Mar 16 11:56:08 reachy2-pvt03 docker[9872]: core | Sink Card: 1,0

Mar 16 11:56:08 reachy2-pvt03 docker[9872]: core | Source Card: 1,0

Mar 16 11:56:08 reachy2-pvt03 docker[9872]: core | Period Size: 512

Mar 16 11:56:08 reachy2-pvt03 docker[9872]: core | Buffer Size: 2048

Mar 16 11:56:08 reachy2-pvt03 docker[9872]: core | Sound config written to ~/.asoundrc

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | [INFO] [launch]: All log files can be found below /home/reachy/.ros/log/2026-03-16-10-56-09-016058-reachy2-pvt03-107

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | [INFO] [launch]: Default logging verbosity is set to INFO

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | [INFO] [launch.user]:

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | --------------------------------------------------

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | Configuration

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | --------------------------------------------------

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core |

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | [reachy.yaml] configuration override

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | Replaced serial_number reachy2-pvt-default => reachy2-pvt03

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core |

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | Validating configuration files…

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | Reachy config loaded successfully

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | [INFO] [launch.user]: Reachy config :

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | robot_model full_kit

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core |

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | [INFO] [launch.user]: Reachy URDF config :

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | depth_camera true

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | robot_config full_kit

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | neck_config “/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/neck.yaml”

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | right_shoulder_config “/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_shoulder_poulpe2d.yaml”

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | right_elbow_config “/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_elbow_poulpe2d.yaml”

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | right_wrist_config “/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/right_wrist_poulpe3d.yaml”

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | left_shoulder_config “/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_shoulder_poulpe2d.yaml”

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | left_elbow_config “/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_elbow_poulpe2d.yaml”

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | left_wrist_config “/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/left_wrist_poulpe3d.yaml”

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | antenna_config “/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/antennas.yaml”

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | grippers_config “/home/reachy/reachy_ws/src/reachy2_core/reachy_config/config/default/grippers.yaml”

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | robot_model “dvt”

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core |

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | [INFO] [launch.user]:

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | --------------------------------------------------

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | Launching nodes…

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | --------------------------------------------------

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core |

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | [INFO] [ethercat_master_server-1]: process started with pid [108]

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:09Z INFO ethercat_controller::ethercat_controller] Found 7 slaves

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:09Z INFO ethercat_controller::ethercat_controller] Slave “NeckOrbita3d” at position 0

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:09Z INFO ethercat_controller::ethercat_controller] Slave “RightShoulderOrbita2d” at position 1

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:09Z INFO ethercat_controller::ethercat_controller] Slave “RightElbowOrbita2d” at position 2

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:09Z INFO ethercat_controller::ethercat_controller] Slave “RightWristOrbita3d” at position 3

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:09Z INFO ethercat_controller::ethercat_controller] Slave “LeftElbowOrbita2d” at position 4

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:09Z INFO ethercat_controller::ethercat_controller] Slave “LeftWristOrbita3d” at position 5

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:09Z INFO ethercat_controller::ethercat_controller] Slave “LeftShoulderOrbita2d” at position 6

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:09Z INFO ethercat_controller::ethercat_controller] Slave 0, DXL_ID: 42

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:09Z INFO ethercat_controller::ethercat_controller] Slave 0 firmware version: “b122e4b18f310b667d11fb29587a5e277fa91787”

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:09Z INFO ethercat_controller::ethercat_controller] Slave 1, DXL_ID: 42

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:09Z INFO ethercat_controller::ethercat_controller] Slave 1 firmware version: “b122e4b18f310b667d11fb29587a5e277fa91787”

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:09Z INFO ethercat_controller::ethercat_controller] Slave 2, DXL_ID: 42

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:09Z INFO ethercat_controller::ethercat_controller] Slave 2 firmware version: “b122e4b18f310b667d11fb29587a5e277fa91787”

Mar 16 11:56:09 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:09Z INFO ethercat_controller::ethercat_controller] Slave 3, DXL_ID: 42

Mar 16 11:56:10 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:10Z INFO ethercat_controller::ethercat_controller] Slave 3 firmware version: “b122e4b18f310b667d11fb29587a5e277fa91787”

Mar 16 11:56:10 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:10Z INFO ethercat_controller::ethercat_controller] Slave 4, DXL_ID: 42

Mar 16 11:56:10 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:10Z INFO ethercat_controller::ethercat_controller] Slave 4 firmware version: “b122e4b18f310b667d11fb29587a5e277fa91787”

Mar 16 11:56:10 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:10Z INFO ethercat_controller::ethercat_controller] Slave 5, DXL_ID: 42

Mar 16 11:56:10 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:10Z INFO ethercat_controller::ethercat_controller] Slave 5 firmware version: “b122e4b18f310b667d11fb29587a5e277fa91787”

Mar 16 11:56:10 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:10Z INFO ethercat_controller::ethercat_controller] Slave 6, DXL_ID: 42

Mar 16 11:56:10 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:10Z INFO ethercat_controller::ethercat_controller] Slave 6 firmware version: “b122e4b18f310b667d11fb29587a5e277fa91787”

Mar 16 11:56:10 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:10Z INFO ethercat_controller::ethercat_controller] Master and all slaves operational!

Mar 16 11:56:10 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:10Z INFO server] POULPE controller ready!

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [INFO] [ros2_control_node-2]: process started with pid [130]

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [ros2_control_node-2] [WARN]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use ‘~/robot_description’ topic from ‘robot_state_publisher’ instead.

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:13Z INFO server] Setup Slave NeckOrbita3d (id: 0)…

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:13Z INFO poulpe_ethercat_controller] Slave 0, inital state: SwitchOnDisabled

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:13Z INFO poulpe_ethercat_controller] Slave 0, setup done! Current state: SwitchedOn

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:13Z INFO server] Done!

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:13Z INFO server] New client - update period of 0.002s

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:13Z INFO server] Setup Slave RightShoulderOrbita2d (id: 1)…

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:13Z INFO poulpe_ethercat_controller] Slave 1, inital state: SwitchOnDisabled

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:13Z INFO poulpe_ethercat_controller] Slave 1, setup done! Current state: SwitchedOn

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:13Z INFO server] Done!

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:13Z INFO server] New client - update period of 0.002s

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:13Z INFO server] Setup Slave RightElbowOrbita2d (id: 2)…

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:13Z INFO poulpe_ethercat_controller] Slave 2, inital state: SwitchOnDisabled

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:13Z INFO poulpe_ethercat_controller] Slave 2, setup done! Current state: SwitchedOn

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:13Z INFO server] Done!

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:13Z INFO server] New client - update period of 0.002s

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:13Z INFO server] Setup Slave RightWristOrbita3d (id: 3)…

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:13Z INFO poulpe_ethercat_controller] Slave 3, inital state: SwitchOnDisabled

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:13Z INFO poulpe_ethercat_controller] Slave 3, setup done! Current state: SwitchedOn

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:13Z INFO server] Done!

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:13Z INFO server] New client - update period of 0.002s

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [INFO] [reachy_sdk_audio_server-8]: process started with pid [337]

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [INFO] [rplidar_scan_publisher-3]: process started with pid [327]

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [INFO] [hal-4]: process started with pid [329]

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [INFO] [fake_gz_interface-5]: process started with pid [331]

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [INFO] [robot_state_publisher-6]: process started with pid [333]

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [INFO] [joint_state_broadcaster-7]: process started with pid [335]

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [INFO] [reachy_grpc_video_sdk_server-9]: process started with pid [339]

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [INFO] [component_container-10]: process started with pid [341]

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [INFO] [goto_server-11]: process started with pid [343]

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [INFO] [dynamic_state_router-12]: process started with pid [345]

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: core | [INFO] [rosbag-13]: process started with pid [347]

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: 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

Mar 16 11:56:13 reachy2-pvt03 docker[9872]: 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.

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [rplidar_scan_publisher-3] [INFO]: RPLIDAR S/N: 7D8CEC95C1EA9ED1B2E49CF4FE504571

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [rplidar_scan_publisher-3] [INFO]: Firmware Ver: 1.01

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [rplidar_scan_publisher-3] [INFO]: Hardware Rev: 18

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:14Z INFO server] Setup Slave LeftShoulderOrbita2d (id: 6)…

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:14Z INFO poulpe_ethercat_controller] Slave 6, inital state: SwitchOnDisabled

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:14Z INFO poulpe_ethercat_controller] Slave 6, setup done! Current state: SwitchedOn

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:14Z INFO server] Done!

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:14Z INFO server] New client - update period of 0.002s

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : 0

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [rplidar_scan_publisher-3] [INFO]: RPLidar health status : OK.

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Load Library: /home/reachy/reachy_ws/install/orbbec_camera/lib/liborbbec_camera.so

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:14Z INFO server] Setup Slave LeftElbowOrbita2d (id: 4)…

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:14Z INFO poulpe_ethercat_controller] Slave 4, inital state: SwitchOnDisabled

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:14Z INFO poulpe_ethercat_controller] Slave 4, setup done! Current state: SwitchedOn

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:14Z INFO server] Done!

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:14Z INFO server] New client - update period of 0.002s

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [rplidar_scan_publisher-3] [INFO]: current scan mode: DenseBoost, sample rate: 32 Khz, max_distance: 30.0 m, scan frequency:20.0 Hz,

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Found class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [Instantiate class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>]

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [03/16 10:56:14.285313][info][341][Context.cpp:68] Context created with config: /home/reachy/reachy_ws/install/orbbec_camera/share/orbbec_camera/config/OrbbecSDKConfig_v1.0.xml

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [03/16 10:56:14.285334][info][341][Context.cpp:73] Work directory=/home/reachy, SDK version=v1.10.18-20250103-27bf2f6

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [03/16 10:56:14.285357][info][341][LinuxPal.cpp:32] createObPal: create LinuxPal!

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [03/16 10:56:14.287779][info][341][LinuxPal.cpp:166] Create PollingDeviceWatcher!

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [03/16 10:56:14.287829][info][341][DeviceManager.cpp:15] Current found device(s): (1)

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [03/16 10:56:14.287838][info][341][DeviceManager.cpp:24] - Name: Orbbec Gemini 336, PID: 0x0803, SN/ID: CP7X54P00078, Connection: USB3.2

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node ‘/camera/camera’ in container ‘/camera/camera_container’

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Connecting to the default device

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:14Z INFO server] Setup Slave LeftWristOrbita3d (id: 5)…

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:14Z INFO poulpe_ethercat_controller] Slave 5, inital state: SwitchOnDisabled

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:14Z INFO poulpe_ethercat_controller] Slave 5, setup done! Current state: SwitchedOn

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:14Z INFO server] Done!

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:14Z INFO server] New client - update period of 0.002s

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [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”

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [ros2_control_node-2] [WARN]: System hardware component ‘gripper’ from plugin ‘dynamixel_2joints_system_hwi/DynamixelSystem’ failed to initialize.

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [ros2_control_node-2] terminate called after throwing an instance of ‘std::runtime_error’

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [ros2_control_node-2] what(): Wrong state or command interface configuration.

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [ros2_control_node-2] missing state interfaces:

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [ros2_control_node-2] ’ l_hand_finger/position ’ ’ l_hand_finger/velocity ’ ’ l_hand_finger/effort ’ ’ r_hand_finger/position ’ ’ r_hand_finger/velocity ’ ’ r_hand_finger/effort ’ ’ l_hand/torque ’ ’ r_hand/torque ’ ’ l_hand_raw_motor_1/speed_limit ’ ’ l_hand_raw_motor_1/torque_limit ’ ’ l_hand_raw_motor_1/temperature ’ ’ l_hand_raw_motor_1/mode ’ ’ l_hand_raw_motor_1/p_gain ’ ’ l_hand_raw_motor_1/i_gain ’ ’ l_hand_raw_motor_1/d_gain ’ ’ l_hand_raw_motor_1/current ’ ’ r_hand_raw_motor_1/speed_limit ’ ’ r_hand_raw_motor_1/torque_limit ’ ’ r_hand_raw_motor_1/temperature ’ ’ r_hand_raw_motor_1/mode ’ ’ r_hand_raw_motor_1/p_gain ’ ’ r_hand_raw_motor_1/i_gain ’ ’ r_hand_raw_motor_1/d_gain ’ ’ r_hand_raw_motor_1/current ’

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [ros2_control_node-2] missing command interfaces:

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [ros2_control_node-2] ’ l_hand_finger/position ’ ’ r_hand_finger/position ’ ’ l_hand/torque ’ ’ r_hand/torque ’ ’ l_hand_raw_motor_1/speed_limit ’ ’ l_hand_raw_motor_1/torque_limit ’ ’ l_hand_raw_motor_1/mode ’ ’ l_hand_raw_motor_1/p_gain ’ ’ l_hand_raw_motor_1/i_gain ’ ’ l_hand_raw_motor_1/d_gain ’ ’ l_hand_raw_motor_1/current ’ ’ r_hand_raw_motor_1/speed_limit ’ ’ r_hand_raw_motor_1/torque_limit ’ ’ r_hand_raw_motor_1/mode ’ ’ r_hand_raw_motor_1/p_gain ’ ’ r_hand_raw_motor_1/i_gain ’ ’ r_hand_raw_motor_1/d_gain ’ ’ r_hand_raw_motor_1/current ’

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Select device cost 160 ms

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Try to connect device via USB3.2

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: OBCameraNode: use_intra_process: OFF

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: current time domain: device

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Setting heartbeat to OFF

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Create align filter

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Depth process is HW D2D

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Setting LDP to ON

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Setting laser control to 1

alvaro_solana · March 17, 2026, 7:12am

More:
Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Setting laser on off mode to 0

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Available presets:

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Preset 0: Custom

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Preset 1: Default

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Preset 2: AMR with IR-Pass

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Preset 3: Factory Calib

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Load device preset: Default

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Device preset Default loaded

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Setting color auto white balance to ON

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Setting color auto exposure to ON

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Setting IR auto exposure to ON

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Setting DecimationFilter…

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: set DecimationFilter to false

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Skip setting filter: DecimationFilter

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Setting HDRMerge…

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: set HDRMerge to false

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Skip setting filter: HDRMerge

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Setting SequenceIdFilter…

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Skip setting filter: SequenceIdFilter

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Setting NoiseRemovalFilter…

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: set NoiseRemovalFilter to true

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Default noise removal filter params: disp_diff: 256, max_size: 80

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Set noise removal filter params: disp_diff: 256, max_size: 80

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Setting SpatialAdvancedFilter…

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: set SpatialAdvancedFilter to false

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Skip setting filter: SpatialAdvancedFilter

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Setting SpatialFastFilter…

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Skip setting filter: SpatialFastFilter

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Setting SpatialModerateFilter…

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Skip setting filter: SpatialModerateFilter

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Setting TemporalFilter…

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: set TemporalFilter to false

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Skip setting filter: TemporalFilter

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Setting HoleFillingFilter…

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: set HoleFillingFilter to false

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Skip setting filter: HoleFillingFilter

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Setting DisparityTransform…

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Skip setting filter: DisparityTransform

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Setting ThresholdFilter…

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: set ThresholdFilter to false

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Skip setting filter: ThresholdFilter

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: stream color is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_MJPG

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: stream depth is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_Y16

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [ERROR] [ros2_control_node-2]: process has died [pid 130, exit code -6, cmd '/opt/ros/humble/lib/controller_manager/ros2_control_node --ros-args --log-level WARN --ros-args --params-file /tmp/launch_params_exudz328 --params-file

/home/reachy/reachy_ws/install/reachy_bringup/share/reachy_bringup/config/reachy_full_kit_controllers.yaml’].

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [INFO] [launch.user]: Critical node failed : [ros2_control_node]

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [INFO] [rosbag_snapshot_dump-14]: process started with pid [632]

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Publish diagnostics every 1 seconds

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Enable color stream

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Stream color width: 1280 height: 720 fps: 30 format: MJPG

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Enable depth stream

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Stream depth width: 1280 height: 720 fps: 30 format: Y16

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Enable frame sync

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Setting LDP to ON

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Device Orbbec Gemini 336 connected

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Serial number: CP7X54P00078

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Firmware version: 1.2.81

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Hardware version: 0.1

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: device unique id: 8-1-2

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Current node pid: 341

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: usb connect type: USB3.2

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Start device cost 427 ms

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Initialize device cost 256 ms

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [rosbag-13] stdin is not a terminal device. Keyboard handling disabled.[INFO]: Press SPACE for pausing/resuming

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [rosbag-13] [INFO]: Opened database ‘/home/reachy/.ros/log/2026-03-16-10-56-09-016058-reachy2-pvt03-107/reachy.bag/reachy.bag_0.db3’ for READ_WRITE.

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [rosbag-13] [INFO]: Listening for topics…

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [rosbag-13] [INFO]: Event publisher thread: Starting

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [rosbag-13] [INFO]: Subscribed to topic ‘/rosout’

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [rosbag-13] [INFO]: Recording…

Mar 16 11:56:14 reachy2-pvt03 docker[9872]: core | [rosbag-13] [INFO]: Subscribed to topic ‘/events/write_split’

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [fake_gz_interface-5] [WARN]: Robot config: full_kit

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [fake_gz_interface-5] [INFO]: Fake Gazebo interface for /dynamic_joint_states and /joint_states

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [rosbag-13] [INFO]: Subscribed to topic ‘/dynamic_joint_states’

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [rosbag-13] [INFO]: Subscribed to topic ‘/joint_states’

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [rosbag-13] [INFO]: Subscribed to topic ‘/parameter_events’

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [rosbag-13] [INFO]: Subscribed to topic ‘/robot_description’

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [rosbag-13] [INFO]: Subscribed to topic ‘/tf_static’

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [rosbag-13] [INFO]: Subscribed to topic ‘/tf’

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Publishing static transform from color to depth

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Translation 13.9428, 0.0192822, 1.69355

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Rotation 0.00134049, -0.00356441, 0.000272079, 0.999993

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Publishing static transform from depth to depth

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Translation 0, 0, 0

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Rotation 0, 0, 0, 1

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Reachy GRPC Video SDK Servicer initialized.

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [hal-4] [INFO]: Starting zuuu_hal!

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [hal-4] [INFO]: Zuuu Goto action server init.

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Spin node

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [hal-4] [INFO]: Running zuuu_hal on physical hardware

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [hal-4]

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Registering ‘VideoServiceServicer’ to server.

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [reachy_grpc_video_sdk_server-9] [INFO]: Server started on port 50065.

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [hal-4] [INFO]: zuuu version: 1.2

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [hal-4] [INFO]: Reading Zuuu’s sensors once…

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [hal-4] [INFO]: The maximum PWM value is 50.0% => maximum wheel speed is set to 11.66 rad/s

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [hal-4] [WARN]: Battery voltage OK (25.2V)

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [rosbag_snapshot_dump-14] requester: making request: rosbag2_interfaces.srv.Snapshot_Request()

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [rosbag_snapshot_dump-14]

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [rosbag_snapshot_dump-14] response:

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [rosbag_snapshot_dump-14] rosbag2_interfaces.srv.Snapshot_Response(success=True)

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [rosbag_snapshot_dump-14]

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [hal-4] [INFO]: => Zuuu HAL up and running! **

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [dynamic_state_router-12] [INFO]: Waiting for /dynamic_joint_states…

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [rosbag-13] [INFO]: Subscribed to topic ‘/mobile_base_state’

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [INFO] [rosbag_snapshot_dump-14]: process has finished cleanly [pid 632]

Mar 16 11:56:15 reachy2-pvt03 docker[9872]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set

Mar 16 11:56:16 reachy2-pvt03 docker[9872]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [INFO] [launch.user]: Launch was asked to shutdown: Node failed : [ros2_control_node]

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [INFO] [rosbag-13]: sending signal ‘SIGINT’ to process[rosbag-13]

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [INFO] [dynamic_state_router-12]: sending signal ‘SIGINT’ to process[dynamic_state_router-12]

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [INFO] [goto_server-11]: sending signal ‘SIGINT’ to process[goto_server-11]

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [INFO] [component_container-10]: sending signal ‘SIGINT’ to process[component_container-10]

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [INFO] [reachy_grpc_video_sdk_server-9]: sending signal ‘SIGINT’ to process[reachy_grpc_video_sdk_server-9]

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [INFO] [reachy_sdk_audio_server-8]: sending signal ‘SIGINT’ to process[reachy_sdk_audio_server-8]

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [INFO] [joint_state_broadcaster-7]: sending signal ‘SIGINT’ to process[joint_state_broadcaster-7]

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [INFO] [robot_state_publisher-6]: sending signal ‘SIGINT’ to process[robot_state_publisher-6]

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [ERROR] [reachy_sdk_audio_server-8]: process has died [pid 337, exit code -2, cmd ‘/bin/bash -c reachy2_sdk_audio_server_rs’].

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [INFO] [fake_gz_interface-5]: sending signal ‘SIGINT’ to process[fake_gz_interface-5]

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [INFO] [hal-4]: sending signal ‘SIGINT’ to process[hal-4]

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [INFO] [rplidar_scan_publisher-3]: sending signal ‘SIGINT’ to process[rplidar_scan_publisher-3]

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [INFO] [ethercat_master_server-1]: sending signal ‘SIGINT’ to process[ethercat_master_server-1]

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [goto_server-11] [WARN]: Waiting for joint_state_ready to be set

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [joint_state_broadcaster-7] [INFO]: Waiting for ‘/controller_manager’ node to exist

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [dynamic_state_router-12] Traceback (most recent call last):

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [dynamic_state_router-12] File “/home/reachy/reachy_ws/install/dynamic_state_router/lib/dynamic_state_router/dynamic_state_router”, line 33, in

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [dynamic_state_router-12] sys.exit(load_entry_point(‘dynamic-state-router’, ‘console_scripts’, ‘dynamic_state_router’)())

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [dynamic_state_router-12] File “/home/reachy/reachy_ws/build/dynamic_state_router/dynamic_state_router/dynamic_state_router.py”, line 397, in main

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [dynamic_state_router-12] node = DynamicStateRouterNode(

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [dynamic_state_router-12] File “/home/reachy/reachy_ws/build/dynamic_state_router/dynamic_state_router/dynamic_state_router.py”, line 91, in _init_

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [dynamic_state_router-12] self.wait_for_setup()

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [dynamic_state_router-12] File “/home/reachy/reachy_ws/build/dynamic_state_router/dynamic_state_router/dynamic_state_router.py”, line 384, in wait_for_setup

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [dynamic_state_router-12] rclpy.spin_once(self)

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [dynamic_state_router-12] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/_init_.py”, line 202, in spin_once

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [dynamic_state_router-12] executor.spin_once(timeout_sec=timeout_sec)

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [dynamic_state_router-12] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py”, line 739, in spin_once

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [dynamic_state_router-12] self._spin_once_impl(timeout_sec)

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [dynamic_state_router-12] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py”, line 728, in _spin_once_impl

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [dynamic_state_router-12] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec)

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [dynamic_state_router-12] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py”, line 711, in wait_for_ready_callbacks

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [dynamic_state_router-12] return next(self._cb_iter)

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [dynamic_state_router-12] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py”, line 608, in _wait_for_ready_callbacks

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [dynamic_state_router-12] wait_set.wait(timeout_nsec)

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [dynamic_state_router-12] KeyboardInterrupt

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [goto_server-11] Traceback (most recent call last):

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [goto_server-11] File “/home/reachy/reachy_ws/install/pollen_goto/lib/pollen_goto/goto_server”, line 33, in

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [goto_server-11] sys.exit(load_entry_point(‘pollen-goto’, ‘console_scripts’, ‘goto_server’)())

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [goto_server-11] File “/home/reachy/reachy_ws/build/pollen_goto/pollen_goto/goto_action_server.py”, line 589, in main

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [goto_server-11] joint_state_handler = CentralJointStateHandler(callback_group)

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [goto_server-11] File “/home/reachy/reachy_ws/build/pollen_goto/pollen_goto/goto_action_server.py”, line 46, in _init_

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [goto_server-11] time.sleep(0.1)

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [goto_server-11] KeyboardInterrupt

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: signal_handler(signum=2)

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [reachy_grpc_video_sdk_server-9] Traceback (most recent call last):

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: 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

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [reachy_grpc_video_sdk_server-9] Exception in thread Thread-1 (spin_ros):

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [reachy_grpc_video_sdk_server-9] Traceback (most recent call last):

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [reachy_grpc_video_sdk_server-9] File “/usr/lib/python3.10/threading.py”, line 1016, in _bootstrap_inner

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [reachy_grpc_video_sdk_server-9] sys.exit(load_entry_point(‘reachy-sdk-server’, ‘console_scripts’, ‘reachy_grpc_video_sdk_server’)())

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: 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 360, in main

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [reachy_grpc_video_sdk_server-9] self.run()

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [reachy_grpc_video_sdk_server-9] File “/usr/lib/python3.10/threading.py”, line 953, in run

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [reachy_grpc_video_sdk_server-9] server.wait_for_termination()

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: 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

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [reachy_grpc_video_sdk_server-9] self._target(*self._args, **self._kwargs)

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: 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 179, in spin_ros

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [reachy_grpc_video_sdk_server-9] return _common.wait(

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [reachy_grpc_video_sdk_server-9] File “/home/reachy/.local/lib/python3.10/site-packages/grpc/_common.py”, line 156, in wait

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [reachy_grpc_video_sdk_server-9] rclpy.spin(self.node)

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [reachy_grpc_video_sdk_server-9] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/_init_.py”, line 222, in spin

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [reachy_grpc_video_sdk_server-9] _wait_once(wait_fn, MAXIMUM_WAIT_TIMEOUT, spin_cb)

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [reachy_grpc_video_sdk_server-9] File “/home/reachy/.local/lib/python3.10/site-packages/grpc/_common.py”, line 116, in _wait_once

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [reachy_grpc_video_sdk_server-9] wait_fn(timeout=timeout)

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [reachy_grpc_video_sdk_server-9] File “/usr/lib/python3.10/threading.py”, line 607, in wait

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [reachy_grpc_video_sdk_server-9] executor.spin_once()

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: 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

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [reachy_grpc_video_sdk_server-9] signaled = self._cond.wait(timeout)

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [reachy_grpc_video_sdk_server-9] File “/usr/lib/python3.10/threading.py”, line 324, in wait

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [reachy_grpc_video_sdk_server-9] self._spin_once_impl(timeout_sec)

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: 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

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [reachy_grpc_video_sdk_server-9] gotit = waiter.acquire(True, timeout)

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [reachy_grpc_video_sdk_server-9] KeyboardInterrupt

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: Color frame thread exit!

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [joint_state_broadcaster-7] Traceback (most recent call last):

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [joint_state_broadcaster-7] File “/opt/ros/humble/lib/controller_manager/spawner”, line 33, in

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [joint_state_broadcaster-7] sys.exit(load_entry_point(‘controller-manager==2.42.0’, ‘console_scripts’, ‘spawner’)())

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [joint_state_broadcaster-7] File “/opt/ros/humble/local/lib/python3.10/dist-packages/controller_manager/spawner.py”, line 222, in main

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [joint_state_broadcaster-7] if not wait_for_controller_manager(

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: 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

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [joint_state_broadcaster-7] node_and_namespace = wait_for_value_or(

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: 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

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [joint_state_broadcaster-7] time.sleep(0.2)

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [joint_state_broadcaster-7] KeyboardInterrupt

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [rosbag-13] [INFO]: Writing remaining messages from cache to the bag. It may take a while

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [rosbag-13] [INFO]: Event publisher thread: Exiting

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [rosbag-13] [INFO]: Recording stopped

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [fake_gz_interface-5] Traceback (most recent call last):

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [fake_gz_interface-5] File “/home/reachy/reachy_ws/install/reachy_gazebo/lib/reachy_gazebo/fake_gz_interface”, line 33, in

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [fake_gz_interface-5] sys.exit(load_entry_point(‘reachy-gazebo’, ‘console_scripts’, ‘fake_gz_interface’)())

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [fake_gz_interface-5] File “/home/reachy/reachy_ws/build/reachy_gazebo/reachy_gazebo/fake_gz_interface.py”, line 283, in main

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [fake_gz_interface-5] rclpy.spin(publisher)

alvaro_solana · March 17, 2026, 7:13am

Finally:
Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [fake_gz_interface-5] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/_init_.py”, line 222, in spin

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [fake_gz_interface-5] executor.spin_once()

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [fake_gz_interface-5] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py”, line 739, in spin_once

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [fake_gz_interface-5] self._spin_once_impl(timeout_sec)

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [fake_gz_interface-5] File “/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py”, line 728, in _spin_once_impl

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [fake_gz_interface-5] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec)

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: 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

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [fake_gz_interface-5] return next(self._cb_iter)

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: 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

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [fake_gz_interface-5] wait_set.wait(timeout_nsec)

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [fake_gz_interface-5] KeyboardInterrupt

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [component_container-10] [WARN]: Do destroy ~OBCameraNode

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [component_container-10] [WARN]: Stop tf thread

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [component_container-10] [WARN]: Stop color frame thread

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [component_container-10] [WARN]: stop streams

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [hal-4] [ERROR]: KeyboardInterrupt in zuuu_hal

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [hal-4] [WARN]: Emergency shutdown initiated in zuuu_hal: Default zuuu_hal shutdown

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [hal-4] Failed to publish log message to rosout: publisher’s context is invalid, at ./src/rcl/publisher.c:389

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [rosbag-13] [INFO]: Recording stopped

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [ERROR] [reachy_grpc_video_sdk_server-9]: process has died [pid 339, exit code -2, cmd ‘/home/reachy/reachy_ws/install/reachy_sdk_server/lib/reachy_sdk_server/reachy_grpc_video_sdk_server --ros-args’].

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [INFO] [launch.user]: Critical node failed : [reachy_grpc_video_sdk_server]

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [component_container-10] [WARN]: Destroy ~OBCameraNode DONE

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [hal-4] Traceback (most recent call last):

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [hal-4] File “/home/reachy/reachy_ws/install/zuuu_hal/lib/zuuu_hal/hal”, line 33, in

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [hal-4] sys.exit(load_entry_point(‘zuuu-hal’, ‘console_scripts’, ‘hal’)())

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [hal-4] File “/home/reachy/reachy_ws/build/zuuu_hal/zuuu_hal/zuuu_hal.py”, line 1427, in main

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [hal-4] zuuu_hal.emergency_shutdown(“Default zuuu_hal shutdown”)

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [hal-4] File “/home/reachy/reachy_ws/build/zuuu_hal/zuuu_hal/zuuu_hal.py”, line 923, in emergency_shutdown

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [hal-4] raise RuntimeError(msg)

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [hal-4] RuntimeError: Default zuuu_hal shutdown

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [rplidar_scan_publisher-3] [INFO]: Stop motor

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [ERROR] [robot_state_publisher-6]: process has died [pid 333, 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_60e5qunn’].

Mar 16 11:56:18 reachy2-pvt03 docker[9872]: core | [INFO] [launch.user]: Critical node failed : [robot_state_publisher]

Mar 16 11:56:19 reachy2-pvt03 docker[9872]: core | [INFO] [rosbag-13]: process has finished cleanly [pid 347]

Mar 16 11:56:19 reachy2-pvt03 docker[9872]: core | [ERROR] [joint_state_broadcaster-7]: process has died [pid 335, 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’].

Mar 16 11:56:19 reachy2-pvt03 docker[9872]: core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): cannot use Destroyable because destruction was requested

Mar 16 11:56:19 reachy2-pvt03 docker[9872]: core | [ERROR] [goto_server-11]: process has died [pid 343, exit code -2, cmd ‘/home/reachy/reachy_ws/install/pollen_goto/lib/pollen_goto/goto_server --ros-args’].

Mar 16 11:56:19 reachy2-pvt03 docker[9872]: core | [INFO] [launch.user]: Critical node failed : [goto_server]

Mar 16 11:56:19 reachy2-pvt03 docker[9872]: core | [ERROR] [fake_gz_interface-5]: process has died [pid 331, exit code -2, cmd ‘/home/reachy/reachy_ws/install/reachy_gazebo/lib/reachy_gazebo/fake_gz_interface --ros-args --params-file /tmp/launch_params_t2qhagnu’].

Mar 16 11:56:19 reachy2-pvt03 docker[9872]: core | [INFO] [launch.user]: Critical node failed : [fake_gz_interface]

Mar 16 11:56:19 reachy2-pvt03 docker[9872]: core | [ERROR] [dynamic_state_router-12]: process has died [pid 345, 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’].

Mar 16 11:56:19 reachy2-pvt03 docker[9872]: core | [INFO] [launch.user]: Critical node failed : [dynamic_state_router]

Mar 16 11:56:19 reachy2-pvt03 docker[9872]: core | [INFO] [rplidar_scan_publisher-3]: process has finished cleanly [pid 327]

Mar 16 11:56:20 reachy2-pvt03 docker[9872]: core | [ethercat_master_server-1] [2026-03-16T10:56:20Z INFO ethercat_controller::ethercat_controller] EtherCAT loop: 935.19 Hz

Mar 16 11:56:20 reachy2-pvt03 docker[9872]: core | [ERROR] [ethercat_master_server-1]: process[ethercat_master_server-1] failed to terminate ‘2’ seconds after receiving ‘SIGINT’, escalating to ‘SIGTERM’

Mar 16 11:56:20 reachy2-pvt03 docker[9872]: core | [INFO] [ethercat_master_server-1]: sending signal ‘SIGTERM’ to process[ethercat_master_server-1]

Mar 16 11:56:20 reachy2-pvt03 docker[9872]: 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’].

Mar 16 11:56:20 reachy2-pvt03 docker[9872]: core | [INFO] [launch.user]: Critical node failed : [ethercat_master_server]

Mar 16 11:56:20 reachy2-pvt03 docker[9872]: core | [ERROR] [launch]: Caught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running

Mar 16 11:56:23 reachy2-pvt03 docker[9872]: core | [ERROR] [component_container-10]: process[component_container-10] failed to terminate ‘5’ seconds after receiving ‘SIGINT’, escalating to ‘SIGTERM’

Mar 16 11:56:23 reachy2-pvt03 docker[9872]: core | [ERROR] [hal-4]: process[hal-4] failed to terminate ‘5’ seconds after receiving ‘SIGINT’, escalating to ‘SIGTERM’

Mar 16 11:56:23 reachy2-pvt03 docker[9872]: core | [INFO] [component_container-10]: sending signal ‘SIGTERM’ to process[component_container-10]

Mar 16 11:56:23 reachy2-pvt03 docker[9872]: core | [INFO] [hal-4]: sending signal ‘SIGTERM’ to process[hal-4]

Mar 16 11:56:23 reachy2-pvt03 docker[9872]: core | [component_container-10] [INFO]: signal_handler(signum=15)

Mar 16 11:56:23 reachy2-pvt03 docker[9872]: core | [INFO] [component_container-10]: process has finished cleanly [pid 341]

Mar 16 11:56:28 reachy2-pvt03 docker[9872]: core | [ERROR] [hal-4]: process[hal-4] failed to terminate ‘10.0’ seconds after receiving ‘SIGTERM’, escalating to ‘SIGKILL’

Mar 16 11:56:28 reachy2-pvt03 docker[9872]: core | [INFO] [hal-4]: sending signal ‘SIGKILL’ to process[hal-4]

Mar 16 11:56:28 reachy2-pvt03 docker[9872]: core | [ERROR] [hal-4]: process has died [pid 329, 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_qfqt1si_’].

Mar 16 11:56:28 reachy2-pvt03 docker[9872]: 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

Mar 16 11:56:29 reachy2-pvt03 docker[9872]: core exited with code 0

Mar 16 11:56:29 reachy2-pvt03 docker[11045]: Container core Stopping

Mar 16 11:56:29 reachy2-pvt03 docker[11045]: Container core Stopped

Mar 16 11:56:29 reachy2-pvt03 docker[11045]: Container core Removing

Mar 16 11:56:29 reachy2-pvt03 docker[11045]: Container core Removed

Mar 16 11:56:29 reachy2-pvt03 systemd[1]: reachy2-core.service: Deactivated successfully.

Claire · March 17, 2026, 9:19am

Thanks a lot @alvaro_solana !
Could you also try pressing and then releasing the emergency stop button to see if that allows the stack to start up?
We are going to send you the cable and another U2D2 for replacement, could you please send me your address, name, mail and number of telephone on claire.houziel@pollen-robotics.com ?

Have a nice day,

Claire

alvaro_solana · March 18, 2026, 7:19am

Hi Claire,

Thank you! I have just sent you an email with my shipping details.

Regarding the E-Stop: No, pressing and releasing the emergency stop button does not allow the stack to start up. The system keeps crashing with the same missing interfaces error. The only workaround is still physically unplugging and replugging the micro-USB cable.

Have a great day! Alvaro