reachy2-core.service: Deactivated successfully. Container core Removed Container core Removing Container core Stopped Container core Stopping Container core Stopping core exited with code 1 core | aplay: main:831: audio open error: No such file or directory core | ALSA lib pcm.c:2664:(snd_pcm_open_noupdate) Unknown PCM default core | ALSA lib conf.c:5701:(snd_config_expand) Evaluate error: No such file or directory core | ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory core | ALSA lib confmisc.c:1334:(snd_func_refer) error evaluating name core | ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory core | ALSA lib confmisc.c:422:(snd_func_concat) error evaluating strings core | ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_card_inum returned error: No such file or directory core | ALSA lib confmisc.c:855:(parse_card) cannot find card '0' core | [ERROR] [rosbag_snapshot_dump-2]: process has died [pid 110, exit code 2, cmd 'ros2 service call /rosbag2_recorder/snapshot rosbag2_interfaces/Snapshot']. core | [INFO] [rosbag_snapshot_dump-2]: sending signal 'SIGINT' to process[rosbag_snapshot_dump-2] core | [INFO] [launch.user]: Launch was asked to shutdown: Node failed : [ethercat_master_server] core | [rosbag_snapshot_dump-2] waiting for service to become available... core | [INFO] [rosbag_snapshot_dump-2]: process started with pid [110] core | [INFO] [launch.user]: Critical node failed : [ethercat_master_server] core | [ERROR] [ethercat_master_server-1]: process has died [pid 90, exit code 1, 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 | [ethercat_master_server-1] Error: Custom { kind: Other, error: "No slaves found" } core | [ethercat_master_server-1] [2026-07-29T19:41:45Z ERROR ethercat_controller::ethercat_controller] No slaves found, check slave connections! core | [ethercat_master_server-1] [2026-07-29T19:41:45Z INFO ethercat_controller::ethercat_controller] Found 0 slaves core | [INFO] [ethercat_master_server-1]: process started with pid [90] 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 | No reachy2 model specified r2-0011, defaulting to PVT. core | Reachy config loaded successfully core | Validating configuration files... core | core | Replaced mobile_base.serial_number MB-001 => MB-0025 core | Replaced serial_number reachy2-pvt-default => r2-0011 core | [reachy.yaml] configuration override core | core | -------------------------------------------------- core | Configuration core | -------------------------------------------------- core | [INFO] [launch.user]: core | No logs&bags to clear core | [INFO] [launch]: Default logging verbosity is set to INFO core | [INFO] [launch]: All log files can be found below /home/reachy/.ros/log/2026-07-29-19-41-44-500932-r2-0011-89 core | No soundcards found. Config not generated. Exiting. 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 7. reachy2-core.service: Deactivated successfully. Container core Removed Container core Removing Container core Stopped Container core Stopping Container core Stopping core exited with code 1 core | aplay: main:831: audio open error: No such file or directory core | ALSA lib pcm.c:2664:(snd_pcm_open_noupdate) Unknown PCM default core | ALSA lib conf.c:5701:(snd_config_expand) Evaluate error: No such file or directory core | ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory core | ALSA lib confmisc.c:1334:(snd_func_refer) error evaluating name core | ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory core | ALSA lib confmisc.c:422:(snd_func_concat) error evaluating strings core | ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_card_inum returned error: No such file or directory core | ALSA lib confmisc.c:855:(parse_card) cannot find card '0' core | [ERROR] [rosbag_snapshot_dump-2]: process has died [pid 110, exit code 2, cmd 'ros2 service call /rosbag2_recorder/snapshot rosbag2_interfaces/Snapshot']. core | [INFO] [rosbag_snapshot_dump-2]: sending signal 'SIGINT' to process[rosbag_snapshot_dump-2] core | [INFO] [launch.user]: Launch was asked to shutdown: Node failed : [ethercat_master_server] core | [rosbag_snapshot_dump-2] waiting for service to become available... core | [INFO] [rosbag_snapshot_dump-2]: process started with pid [110] core | [INFO] [launch.user]: Critical node failed : [ethercat_master_server] core | [ERROR] [ethercat_master_server-1]: process has died [pid 90, exit code 1, 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 | [ethercat_master_server-1] Error: Custom { kind: Other, error: "No slaves found" } core | [ethercat_master_server-1] [2026-07-29T19:41:33Z ERROR ethercat_controller::ethercat_controller] No slaves found, check slave connections! core | [ethercat_master_server-1] [2026-07-29T19:41:33Z INFO ethercat_controller::ethercat_controller] Found 0 slaves core | [INFO] [ethercat_master_server-1]: process started with pid [90] 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 | No reachy2 model specified r2-0011, defaulting to PVT. core | core | robot_model full_kit core | [INFO] [launch.user]: Reachy config : core | Reachy config loaded successfully core | Validating configuration files... core | core | Replaced mobile_base.serial_number MB-001 => MB-0025 core | Replaced serial_number reachy2-pvt-default => r2-0011 core | [reachy.yaml] configuration override core | core | -------------------------------------------------- core | Configuration core | -------------------------------------------------- core | [INFO] [launch.user]: core | No logs&bags to clear core | [INFO] [launch]: Default logging verbosity is set to INFO core | [INFO] [launch]: All log files can be found below /home/reachy/.ros/log/2026-07-29-19-41-32-745312-r2-0011-89 core | No soundcards found. Config not generated. Exiting. 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 6. reachy2-core.service: Deactivated successfully. Container core Removed Container core Removing Container core Stopped Container core Stopping Container core Stopping core exited with code 1 core | aplay: main:831: audio open error: No such file or directory core | ALSA lib pcm.c:2664:(snd_pcm_open_noupdate) Unknown PCM default core | ALSA lib conf.c:5701:(snd_config_expand) Evaluate error: No such file or directory core | ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory core | ALSA lib confmisc.c:1334:(snd_func_refer) error evaluating name core | ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory core | ALSA lib confmisc.c:422:(snd_func_concat) error evaluating strings core | ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_card_inum returned error: No such file or directory core | ALSA lib confmisc.c:855:(parse_card) cannot find card '0' core | [ERROR] [rosbag_snapshot_dump-2]: process has died [pid 110, exit code 2, cmd 'ros2 service call /rosbag2_recorder/snapshot rosbag2_interfaces/Snapshot']. core | [INFO] [rosbag_snapshot_dump-2]: sending signal 'SIGINT' to process[rosbag_snapshot_dump-2] core | [INFO] [launch.user]: Launch was asked to shutdown: Node failed : [ethercat_master_server] core | [rosbag_snapshot_dump-2] waiting for service to become available... core | [INFO] [rosbag_snapshot_dump-2]: process started with pid [110] core | [INFO] [launch.user]: Critical node failed : [ethercat_master_server] core | [ERROR] [ethercat_master_server-1]: process has died [pid 90, exit code 1, 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 | [ethercat_master_server-1] Error: Custom { kind: Other, error: "No slaves found" } core | [ethercat_master_server-1] [2026-07-29T19:41:21Z ERROR ethercat_controller::ethercat_controller] No slaves found, check slave connections! core | [ethercat_master_server-1] [2026-07-29T19:41:21Z INFO ethercat_controller::ethercat_controller] Found 0 slaves core | [INFO] [ethercat_master_server-1]: process started with pid [90] 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 r2-0011, defaulting to PVT. core | Validating configuration files... core | core | Replaced mobile_base.serial_number MB-001 => MB-0025 core | Replaced serial_number reachy2-pvt-default => r2-0011 core | [reachy.yaml] configuration override core | core | -------------------------------------------------- core | Configuration core | -------------------------------------------------- core | [INFO] [launch.user]: core | No logs&bags to clear core | [INFO] [launch]: Default logging verbosity is set to INFO core | [INFO] [launch]: All log files can be found below /home/reachy/.ros/log/2026-07-29-19-41-21-003152-r2-0011-89 core | No soundcards found. Config not generated. Exiting. 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 5. reachy2-core.service: Deactivated successfully. Container core Removed Container core Removing Container core Stopped Container core Stopping Container core Stopping core exited with code 1 core | aplay: main:831: audio open error: No such file or directory core | ALSA lib pcm.c:2664:(snd_pcm_open_noupdate) Unknown PCM default core | ALSA lib conf.c:5701:(snd_config_expand) Evaluate error: No such file or directory core | ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory core | ALSA lib confmisc.c:1334:(snd_func_refer) error evaluating name core | ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory core | ALSA lib confmisc.c:422:(snd_func_concat) error evaluating strings core | ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_card_inum returned error: No such file or directory core | ALSA lib confmisc.c:855:(parse_card) cannot find card '0' core | [ERROR] [rosbag_snapshot_dump-2]: process has died [pid 110, exit code 2, cmd 'ros2 service call /rosbag2_recorder/snapshot rosbag2_interfaces/Snapshot']. core | [INFO] [rosbag_snapshot_dump-2]: sending signal 'SIGINT' to process[rosbag_snapshot_dump-2] core | [INFO] [launch.user]: Launch was asked to shutdown: Node failed : [ethercat_master_server] core | [rosbag_snapshot_dump-2] waiting for service to become available... core | [INFO] [rosbag_snapshot_dump-2]: process started with pid [110] core | [INFO] [launch.user]: Critical node failed : [ethercat_master_server] core | [ERROR] [ethercat_master_server-1]: process has died [pid 90, exit code 1, 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 | [ethercat_master_server-1] Error: Custom { kind: Other, error: "No slaves found" } core | [ethercat_master_server-1] [2026-07-29T19:41:10Z ERROR ethercat_controller::ethercat_controller] No slaves found, check slave connections! core | [ethercat_master_server-1] [2026-07-29T19:41:10Z INFO ethercat_controller::ethercat_controller] Found 0 slaves core | [INFO] [ethercat_master_server-1]: process started with pid [90] 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 | No reachy2 model specified r2-0011, defaulting to PVT. core | core | robot_model full_kit core | [INFO] [launch.user]: Reachy config : core | Reachy config loaded successfully core | Validating configuration files... core | core | Replaced mobile_base.serial_number MB-001 => MB-0025 core | Replaced serial_number reachy2-pvt-default => r2-0011 core | [reachy.yaml] configuration override core | core | -------------------------------------------------- core | Configuration core | -------------------------------------------------- core | [INFO] [launch.user]: core | No logs&bags to clear core | [INFO] [launch]: Default logging verbosity is set to INFO core | [INFO] [launch]: All log files can be found below /home/reachy/.ros/log/2026-07-29-19-41-09-234162-r2-0011-89 core | No soundcards found. Config not generated. Exiting. 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 4. reachy2-core.service: Deactivated successfully. Container core Removed Container core Removing Container core Stopped Container core Stopping Container core Stopping core exited with code 1 core | aplay: main:831: audio open error: No such file or directory core | ALSA lib pcm.c:2664:(snd_pcm_open_noupdate) Unknown PCM default core | ALSA lib conf.c:5701:(snd_config_expand) Evaluate error: No such file or directory core | ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory core | ALSA lib confmisc.c:1334:(snd_func_refer) error evaluating name core | ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory core | ALSA lib confmisc.c:422:(snd_func_concat) error evaluating strings core | ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_card_inum returned error: No such file or directory core | ALSA lib confmisc.c:855:(parse_card) cannot find card '0' core | [ERROR] [rosbag_snapshot_dump-2]: process has died [pid 110, exit code 2, cmd 'ros2 service call /rosbag2_recorder/snapshot rosbag2_interfaces/Snapshot']. core | [INFO] [rosbag_snapshot_dump-2]: sending signal 'SIGINT' to process[rosbag_snapshot_dump-2] core | [INFO] [launch.user]: Launch was asked to shutdown: Node failed : [ethercat_master_server] core | [rosbag_snapshot_dump-2] waiting for service to become available... core | [INFO] [rosbag_snapshot_dump-2]: process started with pid [110] core | [INFO] [launch.user]: Critical node failed : [ethercat_master_server] core | [ERROR] [ethercat_master_server-1]: process has died [pid 90, exit code 1, 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 | [ethercat_master_server-1] Error: Custom { kind: Other, error: "No slaves found" } core | [ethercat_master_server-1] [2026-07-29T19:40:58Z ERROR ethercat_controller::ethercat_controller] No slaves found, check slave connections! core | [ethercat_master_server-1] [2026-07-29T19:40:58Z INFO ethercat_controller::ethercat_controller] Found 0 slaves core | [INFO] [ethercat_master_server-1]: process started with pid [90] 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 r2-0011, defaulting to PVT. core | Validating configuration files... core | core | Replaced mobile_base.serial_number MB-001 => MB-0025 core | Replaced serial_number reachy2-pvt-default => r2-0011 core | [reachy.yaml] configuration override core | core | -------------------------------------------------- core | Configuration core | -------------------------------------------------- core | [INFO] [launch.user]: core | No logs&bags to clear core | [INFO] [launch]: Default logging verbosity is set to INFO core | [INFO] [launch]: All log files can be found below /home/reachy/.ros/log/2026-07-29-19-40-57-689986-r2-0011-89 core | No soundcards found. Config not generated. Exiting. 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 3. reachy2-core.service: Deactivated successfully. Container core Removed Container core Removing Container core Stopped Container core Stopping Container core Stopping core exited with code 1 core | aplay: main:831: audio open error: No such file or directory core | ALSA lib pcm.c:2664:(snd_pcm_open_noupdate) Unknown PCM default core | ALSA lib conf.c:5701:(snd_config_expand) Evaluate error: No such file or directory core | ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory core | ALSA lib confmisc.c:1334:(snd_func_refer) error evaluating name core | ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory core | ALSA lib confmisc.c:422:(snd_func_concat) error evaluating strings core | ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_card_inum returned error: No such file or directory core | ALSA lib confmisc.c:855:(parse_card) cannot find card '0' core | [ERROR] [rosbag_snapshot_dump-2]: process has died [pid 110, exit code 2, cmd 'ros2 service call /rosbag2_recorder/snapshot rosbag2_interfaces/Snapshot']. core | [INFO] [rosbag_snapshot_dump-2]: sending signal 'SIGINT' to process[rosbag_snapshot_dump-2] core | [INFO] [launch.user]: Launch was asked to shutdown: Node failed : [ethercat_master_server] core | [rosbag_snapshot_dump-2] waiting for service to become available... core | [INFO] [rosbag_snapshot_dump-2]: process started with pid [110] core | [INFO] [launch.user]: Critical node failed : [ethercat_master_server] core | [ERROR] [ethercat_master_server-1]: process has died [pid 90, exit code 1, 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 | [ethercat_master_server-1] Error: Custom { kind: Other, error: "No slaves found" } core | [ethercat_master_server-1] [2026-07-29T19:40:47Z ERROR ethercat_controller::ethercat_controller] No slaves found, check slave connections! core | [ethercat_master_server-1] [2026-07-29T19:40:47Z INFO ethercat_controller::ethercat_controller] Found 0 slaves core | [INFO] [ethercat_master_server-1]: process started with pid [90] 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 r2-0011, defaulting to PVT. core | Validating configuration files... core | core | Replaced mobile_base.serial_number MB-001 => MB-0025 core | Replaced serial_number reachy2-pvt-default => r2-0011 core | [reachy.yaml] configuration override core | core | -------------------------------------------------- core | Configuration core | -------------------------------------------------- core | [INFO] [launch.user]: core | No logs&bags to clear core | [INFO] [launch]: Default logging verbosity is set to INFO core | [INFO] [launch]: All log files can be found below /home/reachy/.ros/log/2026-07-29-19-40-46-221580-r2-0011-89 core | No soundcards found. Config not generated. Exiting. 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 2. reachy2-core.service: Deactivated successfully. Container core Removed Container core Removing Container core Stopped Container core Stopping Container core Stopping core exited with code 1 core | aplay: main:831: audio open error: No such file or directory core | ALSA lib pcm.c:2664:(snd_pcm_open_noupdate) Unknown PCM default core | ALSA lib conf.c:5701:(snd_config_expand) Evaluate error: No such file or directory core | ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory core | ALSA lib confmisc.c:1334:(snd_func_refer) error evaluating name core | ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory core | ALSA lib confmisc.c:422:(snd_func_concat) error evaluating strings core | ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_card_inum returned error: No such file or directory core | ALSA lib confmisc.c:855:(parse_card) cannot find card '0' core | [ERROR] [rosbag_snapshot_dump-2]: process has died [pid 110, exit code 2, cmd 'ros2 service call /rosbag2_recorder/snapshot rosbag2_interfaces/Snapshot']. core | [INFO] [rosbag_snapshot_dump-2]: sending signal 'SIGINT' to process[rosbag_snapshot_dump-2] core | [INFO] [launch.user]: Launch was asked to shutdown: Node failed : [ethercat_master_server] core | [rosbag_snapshot_dump-2] waiting for service to become available... core | [INFO] [rosbag_snapshot_dump-2]: process started with pid [110] core | [INFO] [launch.user]: Critical node failed : [ethercat_master_server] core | [ERROR] [ethercat_master_server-1]: process has died [pid 90, exit code 1, 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 | [ethercat_master_server-1] Error: Custom { kind: Other, error: "No slaves found" } core | [ethercat_master_server-1] [2026-07-29T19:40:35Z ERROR ethercat_controller::ethercat_controller] No slaves found, check slave connections! core | [ethercat_master_server-1] [2026-07-29T19:40:35Z INFO ethercat_controller::ethercat_controller] Found 0 slaves core | [INFO] [ethercat_master_server-1]: process started with pid [90] 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 r2-0011, defaulting to PVT. core | Validating configuration files... core | core | Replaced mobile_base.serial_number MB-001 => MB-0025 core | Replaced serial_number reachy2-pvt-default => r2-0011 core | [reachy.yaml] configuration override core | core | -------------------------------------------------- core | Configuration core | -------------------------------------------------- core | [INFO] [launch.user]: core | No logs&bags to clear core | [INFO] [launch]: Default logging verbosity is set to INFO core | [INFO] [launch]: All log files can be found below /home/reachy/.ros/log/2026-07-29-19-40-34-711592-r2-0011-89 core | No soundcards found. Config not generated. Exiting. 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 1. reachy2-core.service: Deactivated successfully. Container core Removed Container core Removing Container core Stopped Container core Stopping Container core Stopping core exited with code 1 core | aplay: main:831: audio open error: No such file or directory core | ALSA lib pcm.c:2664:(snd_pcm_open_noupdate) Unknown PCM default core | ALSA lib conf.c:5701:(snd_config_expand) Evaluate error: No such file or directory core | ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory core | ALSA lib confmisc.c:1334:(snd_func_refer) error evaluating name core | ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory core | ALSA lib confmisc.c:422:(snd_func_concat) error evaluating strings core | ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_card_inum returned error: No such file or directory core | ALSA lib confmisc.c:855:(parse_card) cannot find card '0' core | [ERROR] [rosbag_snapshot_dump-2]: process has died [pid 110, exit code 2, cmd 'ros2 service call /rosbag2_recorder/snapshot rosbag2_interfaces/Snapshot']. core | [INFO] [rosbag_snapshot_dump-2]: sending signal 'SIGINT' to process[rosbag_snapshot_dump-2] core | [INFO] [launch.user]: Launch was asked to shutdown: Node failed : [ethercat_master_server] core | [rosbag_snapshot_dump-2] waiting for service to become available... core | [INFO] [rosbag_snapshot_dump-2]: process started with pid [110] core | [INFO] [launch.user]: Critical node failed : [ethercat_master_server] core | [ERROR] [ethercat_master_server-1]: process has died [pid 90, exit code 1, 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 | [ethercat_master_server-1] Error: Custom { kind: Other, error: "No slaves found" } core | [ethercat_master_server-1] [2026-07-29T19:40:24Z ERROR ethercat_controller::ethercat_controller] No slaves found, check slave connections! core | [ethercat_master_server-1] [2026-07-29T19:40:24Z INFO ethercat_controller::ethercat_controller] Found 0 slaves core | [INFO] [ethercat_master_server-1]: process started with pid [90] 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 r2-0011, defaulting to PVT. core | Validating configuration files... core | core | Replaced mobile_base.serial_number MB-001 => MB-0025 core | Replaced serial_number reachy2-pvt-default => r2-0011 core | [reachy.yaml] configuration override core | core | -------------------------------------------------- core | Configuration core | -------------------------------------------------- core | [INFO] [launch.user]: core | No logs&bags to clear core | [INFO] [launch]: Default logging verbosity is set to INFO core | [INFO] [launch]: All log files can be found below /home/reachy/.ros/log/2026-07-29-19-40-23-095430-r2-0011-89 core | No soundcards found. Config not generated. Exiting. Attaching to core Container core Created Container core Creating Started Reachy2 Core. What a clear sky to launch a [core] container Starting Reachy2 Core... Clear logs