xs_sdk Process Dies

[drpjm]

I was testing my Locobot Wx200's MoveIt package and ran into a sudden xs_sdk process failure. The system just started and had no motion and it reported the following:

What is error code -11? What could possibly cause this trouble in the xs_sdk when the robot arm is idle? Thanks!

[lukeschmitt-tr]

A few questions:

1. Do you see this behavior every time you run the moveit package?
2. What was your launch command?
3. Did you change any configuration files or modify the source code of the xs_sdk or the hardware interface?

[drpjm]

1. Unfortunately, the occurrence seems to be random. After that failure, it failed two more times upon launch. Then, it did not fail anymore on the day I was testing.
2. I made a custom launch file that simply invoked the one your interbotix_xslocobot_moveit package provides: xslocobot_moveit.launch.py with the robot_model as locobot_wx200, hardware_type as actual, and use_moveit_rviz as false
3. I did not modify any of the xs_sdk source code or config files.

[lukeschmitt-tr]

Please run the xs_sdk/xs_driver in DEBUG mode until you see this behavior again and provide those logs.

[drpjm]

Where is the debug mode enabled? Is that a command line arg for the moveit launch?

[lukeschmitt-tr]

You can pass this down to the xsarm_control launch file as the Launch Argument xs_driver_logging_level.

[drpjm]

I ran it a few times and I have not recreated the error. I noticed that the sdk is continuously sending DEBUG messages for the gripper (I think - it is motor ID 7). Is that normal?

I will keep testing with DEBUG mode to see if that fatal error occurs.