MotoRos2 installation issue

[rsaintobert]

I’m having an issue while installing MotoRos2 on a YRC1000 controller: the MotoPlus application does not seem to be started or working properly at the end of the procedure.

The micro ros agent and the debug_listener tool never receive any connection.

The controller is reachable (response to ping) so I don’t think it’s a network issue.

For information, I have already installed MotoRos2 on 3 other YRC1000 controllers successfully in the past few months, so I’m quite confident with the execution of the procedure.

I have however noticed 2 things I’m not sure it has a relation with the problem:

• just after having loaded the MotoPlus APL and initializing the SRAM RAM DRIVE, I get an info message indicating to perform a ‘safety board flash reset’. I executed the procedure twice with and without this reset and I does not seem to change anything
• I properly get the alarm 8013 [0] Missing MotoROS2 cfg file on reboot in normal operation mode, but when I load the config file I never get the alarm 8001[10] Speed FB enabled, reboot now

The release used is 0.1.2.
The ROS version used is humble.
I have no logs from the debug_listener because nothing happens.

I have attached the PANELBOX.LOG file and the config file loaded.
files.zip

[gavanderhoorn]

This reminds me of #200, which unfortunately didn't get resolved.

(difference however is there is a line under //MOTOPLUS APP in the PANELBOX.LOG you've shared, so MotoROS2 must have at least started, as that wouldn't be present otherwise)

To skip to the end of #200 (#200 (reply in thread)): @rsaintobert: do you perhaps have a VGA connector kit for your YRC1000?

[gavanderhoorn]

how do you disable the FSU temporarily ?

it's explained in the readme:

If the controller is configured with the Functional Safety Unit (FSU), then SAVE DATA CRC CHECK FUNC (FSU) must be temporarily disabled during the installation procedure.

The instructions following that should explain how to temporarily disable it, and how to re-enable it after installation.

[rsaintobert]

@gavanderhoorn ok, I unfortunately already tried it...

[ted-miller]

I never get the alarm 8001[10] Speed FB enabled, reboot now

I have noticed that no INIT_ROS job is created after the load of the config file and reboot. I tried to put it manually but I does not change anything.

Please note that these things will only happen after the robot successfully connects with the agent PC.

I did notice that in your config file, it's trying to connect on port 9999, rather than the default of 8888.
This is fine. But make sure that the same port is specified when launching the Agent on the PC.

After adjusting my agent settings to use port 9999, the robot connected just fine. I got the speed-feedback alarm, rebooted, and init_ros was created. So it looks like your robot controller is configured properly. Just need to resolve any networking issues.

[rsaintobert]

The issue is solved now, the problem was indeed a networking issue on the PC side.
After inspecting the network (I should have done it before), I saw UDP packets sent by the controller with a payload indicating an attempt to connect to the PC. It turns out that the UDP packets were not allowed on the connected interface (it's a fresh install of Ubuntu 22.04, I don't know why the configuration is done like this).
I updated the firewalling rules to allow UDP on it and everything is ok now.
Maybe something to add in the troubleshooting guide when no job is automatically created (which may indicate a connectivity issue) ?
Many thanks for your help anyway.

[gavanderhoorn]

Thanks @rsaintobert for letting us know.

Maybe something to add in the troubleshooting guide

yes, this would indeed make a good addition.

We should probably just mention checking ufw configuration as a step in the installation and how it could be blocking traffic to the Agent.

[gavanderhoorn]

Maybe something to add in the troubleshooting guide

Tracking in #288.