I have been trying to get one of my SES-V2 Arms to work with ROS2 now for the past 2 weeks. I followed along with the official readme: GitHub - Lynxmotion/LSS-ROS2-Arms
I have no Problem using the robot with the flowarm application and i am sure i configured the arms with proper baudrate etc. in the config program. When i build everything on my focal fossa ubuntu as described, the simulation starts properly and i can choose a movement group as well as a motion planner, but i am pretty sure that communication with the servos does not work properly, because they dont light up dark blue as described.
I installed everything on 3 different machines, so im sure it is not a hardware issue on my side. Rather i feel like a communication package is missing in the official github repo, that i might have missed from somewhere else: GitHub - Lynxmotion/LSS-ROS2-Arms
Summary:
-Simulation works
-rviz properly displays robotarm
-proper robot config and usb serial connection is set up
-no communication to the servos
Starting >>> lss_ros2_control
--- stderr: lss_ros2_control
Cloning into 'lynxmotion-lss'...
[email protected]: Permission denied (publickey).
fatal: Could not read from remote repository.
Please make sure you have the correct access rights
and the repository exists.
Cloning into 'lynxmotion-lss'...
[email protected]: Permission denied (publickey).
fatal: Could not read from remote repository.
Please make sure you have the correct access rights
and the repository exists.
Cloning into 'lynxmotion-lss'...
[email protected]: Permission denied (publickey).
fatal: Could not read from remote repository.
Please make sure you have the correct access rights
and the repository exists.
CMake Error at /home/robotpi/ros2_ws/src/build/lss_ros2_control/lynxmotion-lss/tmp/lynxmotion-lss-gitclone.cmake:31 (message):
Failed to clone repository:
'[email protected]:lynxmotionbeta/AlternativeLSS.git'
make[2]: *** [CMakeFiles/lynxmotion-lss.dir/build.make:91: lynxmotion-lss/src/lynxmotion-lss-stamp/lynxmotion-lss-download] Error 1
make[1]: *** [CMakeFiles/Makefile2:134: CMakeFiles/lynxmotion-lss.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed <<< lss_ros2_control [4.91s, exited with code 2]
Summary: 0 packages finished [5.29s]
1 package failed: lss_ros2_control
1 package had stderr output: lss_ros2_control
robotpi@robotpi:~/ros2_ws/src$
Take a look at the LSS adapter and ensure the three-way switch is set correctly to USB:
Can you also confirm the 12V wall adapter is connected and powered ON, and the drivers for the FTDI USB to serial communication are installed correctly (indeed, if you understand how to use ROS, these are likely very basic, but worth asking just in case).
Did you go through the procedure of assigning unique IDs to each servo (suggested via LSS Config), which match the guide?
Last, although a dumb question - can you ensure the USB cable you’re using is not power only and has the data line populated?
I currently have two 4DOF Arms to work with, that i recieved from my university, they dont have a ADA Board on them, but a direkt connector to power and FTDI USB. Maybe that already explains the issue and i should order a Board, could that be the case?
As for the configuration, i assigned the servo IDs as described and set the baudrate accordingly, the arms work flawless with LSS Flowarm on windows, so i am quite sure the hardware setup is proper.
The FTDI USB connection is labeled as up on both machines i built on, so that should not be the issue. Maybe i really just do need a ADA Board? I just assumed building the project would be possible without it, since the arm is already controllable with the windows applications you provide.
Normally the 4DoF include an LSS Adapter, so not sure why you didn’t receive it / them?
If you’re using different electronics, there are a few things to consider like power, common ground, ensuring Tx and RX are correct, the correct drivers are installed etc. One LSS adapter can be used with two arms, unless the power draw is high, at which point you might either use two adapters and two power supplies, or an additional LSS Power Distribution Board which allows you to add a second 12V power supply for part of the servo bus.
