Hi,

Thanks for the answers Enea and Markus. I googled some more about information on the slaves, and the seem to be compatible. I changed the definition in the youbot_types.hpp and recompiled. As far as I can understand the youbot_test.lua script, it is now able to complete the first step in finding the robot, also it moved the joints a bit. However after that first step it runs a different rttros.lua script that seems to fail to find packages.

youbot@rpg-youbot:~/orocos/youbot_hardware/youbot_driver_rtt$ ./run.sh -r
Real-time memory: 521040 bytes free of 524288 allocated.
OROCOS RTTLua 1.0-beta5 / Lua 5.1.4 (gnulinux)
3.247 [ Warning][Thread] Lowering scheduler type to SCHED_OTHER for non-privileged users..
3.247 [ Warning][Thread] Forcing priority (50) of thread with SCHED_OTHER policy to 0.
3.247 [ Warning][youbot] Lowering scheduler type to SCHED_OTHER for non-privileged users..
./opt/ros/fuerte/stacks/orocos_toolchain/ocl/bin/rttlua-gnulinux: ...e/stacks/orocos_toolchain/ocl/lua/modules/rttros.lua:26: Package path could not be found for youbot_driver_rtt
stack traceback:
[C]: in function 'assert'
...e/stacks/orocos_toolchain/ocl/lua/modules/rttros.lua:26: in function 'find_rospack'
lua/youbot_test.lua:115: in main chunk
[C]: ?
TLSF bytes allocated=524288 overhead=3248 max-used=3248 currently-used=3248 still-allocated=0

The lua path is as follows:

youbot@rpg-youbot:~/orocos/youbot_hardware/youbot_driver_rtt$ echo $LUA_PATH
;;;/opt/ros/fuerte/stacks/orocos_toolchain/ocl/lua/modules/?.lua;/home/youbot/orocos/rFSM/?.lua;/home/youbot/orocos/youbot_hardware/youbot_driver_rtt/lua/?.lua

And rospack find returns the correct location.

youbot@rpg-youbot:~/orocos/youbot_hardware/youbot_driver_rtt$ rospack find youbot_driver_rtt
/home/youbot/orocos/youbot_hardware/youbot_driver_rtt

I think all the paths should be set up correctly, so I have no idea what causes the error. Would be grateful for any help.

Best regards,

Benj Keiser

Good day,
HI Keiser

I am a new user on the KUKA YouBot. To try some things on the YouBot I wanted to get the Gravity compensation of the arm (http://youbot-store.com/apps-and-utilities/32/software.aspx) to work. I think everything is set up as it should be, but I seem to have some problems with my ethercat slaves. Here's the output of the program.
youbot@rpg-youbot:~/orocos/you
bot_hardware/youbot_driver_rtt$ ./run.sh -r
Real-time memory: 521040 bytes free of 524288 allocated.
OROCOS RTTLua 1.0-beta5 / Lua 5.1.4 (gnulinux)
3.264 [ Warning][Thread] Lowering scheduler type to SCHED_OTHER for non-privileged users..
3.265 [ Warning][Thread] Forcing priority (50) of thread with SCHED_OTHER policy to 0.
3.265 [ Warning][youbot] Lowering scheduler type to SCHED_OTHER for non-privileged users..
4.163 [ ERROR ][youbot] Wheel slave 2: TMCM-174 not detected, found TMCM-1632instead.
4.166 [ ERROR ][youbot] Arm power board: KR-843 not detected, found KR-845instead.
4.166 [ ERROR ][youbot] Arm power board: KR-843 not detected, found KR-845instead.
/opt/ros/fuerte/stacks/orocos_toolchain/ocl/bin/rttlua-gnulinux: lua/youbot_test.lua:60: Service.provides: no subservice youbot of service Arm1
stack traceback:
[C]: in function 'provides'
lua/youbot_test.lua:60: in main chunk
[C]: ?
TLSF bytes allocated=524288 overhead=3248 max-used=3248 currently-used=3248 still-allocated=0

Running sudo ./slaveinfo eth1 gives

youbot@rpg-youbot:~/orocos/soe
m/soem_core/bin$ sudo ./slaveinfo eth1
[sudo] password for youbot:
SOEM (Simple Open EtherCAT Master)
Slaveinfo
Starting slaveinfo
ec_init on eth1 succeeded.
11 slaves found and configured.
Calculated workcounter 27

Slave:1
Name:KR-845
Output size: 0bits
Input size: 0bits
State: 4
Delay: 0[ns]
Has DC: 1
DCParentport:0
Activeports:1.1.0.1
Configured address: 1001
Man: 00000286 ID: 00000065 Rev: 00000000
FMMUfunc 0:0 1:0 2:0 3:0
MBX length wr: 0 rd: 0 MBX protocols : 00
CoE details: 00 FoE details: 00 EoE details: 00 SoE details: 00
Ebus current: -2000[mA]
only LRD/LWR:0

Slave:2
Name:TMCM-1632
Output size: 320bits
Input size: 320bits
State: 4
Delay: 140[ns]
Has DC: 1
DCParentport:3
Activeports:1.1.0.0
Configured address: 1002
Man: 00000286 ID: 00000071 Rev: 00000002
SM0 A:1100 L: 8 F:00010026 Type:1
SM1 A:1110 L: 8 F:00010022 Type:2
SM2 A:1000 L: 40 F:00010024 Type:3
SM3 A:1078 L: 40 F:00010020 Type:4
FMMU0 Ls:00000000 Ll: 40 Lsb:0 Leb:7 Ps:1000 Psb:0 Ty:02 Act:01
FMMU1 Ls:00000168 Ll: 40 Lsb:0 Leb:7 Ps:1078 Psb:0 Ty:01 Act:01
FMMUfunc 0:1 1:0 2:0 3:0
MBX length wr: 8 rd: 8 MBX protocols : 08
CoE details: 00 FoE details: 01 EoE details: 00 SoE details: 00
Ebus current: 100[mA]
only LRD/LWR:0

Slave:3
Name:TMCM-1632
Output size: 320bits
Input size: 320bits
State: 4
Delay: 285[ns]
Has DC: 1
DCParentport:1
Activeports:1.1.0.0
Configured address: 1003
Man: 00000286 ID: 00000071 Rev: 00000002
SM0 A:1100 L: 8 F:00010026 Type:1
SM1 A:1110 L: 8 F:00010022 Type:2
SM2 A:1000 L: 40 F:00010024 Type:3
SM3 A:1078 L: 40 F:00010020 Type:4
FMMU0 Ls:00000028 Ll: 40 Lsb:0 Leb:7 Ps:1000 Psb:0 Ty:02 Act:01
FMMU1 Ls:00000190 Ll: 40 Lsb:0 Leb:7 Ps:1078 Psb:0 Ty:01 Act:01
FMMUfunc 0:1 1:0 2:0 3:0
MBX length wr: 8 rd: 8 MBX protocols : 08
CoE details: 00 FoE details: 01 EoE details: 00 SoE details: 00
Ebus current: 100[mA]
only LRD/LWR:0

Slave:4
Name:TMCM-1632
Output size: 320bits
Input size: 320bits
State: 4
Delay: 430[ns]
Has DC: 1
DCParentport:1
Activeports:1.1.0.0
Configured address: 1004
Man: 00000286 ID: 00000071 Rev: 00000002
SM0 A:1100 L: 8 F:00010026 Type:1
SM1 A:1110 L: 8 F:00010022 Type:2
SM2 A:1000 L: 40 F:00010024 Type:3
SM3 A:1078 L: 40 F:00010020 Type:4
FMMU0 Ls:00000050 Ll: 40 Lsb:0 Leb:7 Ps:1000 Psb:0 Ty:02 Act:01
FMMU1 Ls:000001b8 Ll: 40 Lsb:0 Leb:7 Ps:1078 Psb:0 Ty:01 Act:01
FMMUfunc 0:1 1:0 2:0 3:0
MBX length wr: 8 rd: 8 MBX protocols : 08
CoE details: 00 FoE details: 01 EoE details: 00 SoE details: 00
Ebus current: 100[mA]
only LRD/LWR:0

Slave:5
Name:TMCM-1632
Output size: 320bits
Input size: 320bits
State: 4
Delay: 585[ns]
Has DC: 1
DCParentport:1
Activeports:1.0.0.0
Configured address: 1005
Man: 00000286 ID: 00000071 Rev: 00000002
SM0 A:1100 L: 8 F:00010026 Type:1
SM1 A:1110 L: 8 F:00010022 Type:2
SM2 A:1000 L: 40 F:00010024 Type:3
SM3 A:1078 L: 40 F:00010020 Type:4
FMMU0 Ls:00000078 Ll: 40 Lsb:0 Leb:7 Ps:1000 Psb:0 Ty:02 Act:01
FMMU1 Ls:000001e0 Ll: 40 Lsb:0 Leb:7 Ps:1078 Psb:0 Ty:01 Act:01
FMMUfunc 0:1 1:0 2:0 3:0
MBX length wr: 8 rd: 8 MBX protocols : 08
CoE details: 00 FoE details: 01 EoE details: 00 SoE details: 00
Ebus current: 100[mA]
only LRD/LWR:0

Slave:6
Name:KR-843
Output size: 0bits
Input size: 0bits
State: 4
Delay: 1745[ns]
Has DC: 1
DCParentport:1
Activeports:0.1.0.1
Configured address: 1006
Man: 00000286 ID: 00000066 Rev: 00000000
SM0 A:1100 L: 8 F:00000026 Type:1
SM1 A:1130 L: 8 F:00000022 Type:2
SM2 A:1000 L: 8 F:00000024 Type:3
SM3 A:1030 L: 8 F:00000020 Type:4
FMMUfunc 0:1 1:0 2:0 3:0
MBX length wr: 8 rd: 8 MBX protocols : 00
CoE details: 00 FoE details: 00 EoE details: 00 SoE details: 00
Ebus current: -2000[mA]
only LRD/LWR:0

Slave:7
Name:TMCM-1610
Output size: 320bits
Input size: 320bits
State: 4
Delay: 1890[ns]
Has DC: 1
DCParentport:3
Activeports:1.1.0.0
Configured address: 1007
Man: 00000286 ID: 00000070 Rev: 00000001
SM0 A:1100 L: 8 F:00010026 Type:1
SM1 A:1110 L: 8 F:00010022 Type:2
SM2 A:1000 L: 40 F:00010024 Type:3
SM3 A:1078 L: 40 F:00010020 Type:4
FMMU0 Ls:000000a0 Ll: 40 Lsb:0 Leb:7 Ps:1000 Psb:0 Ty:02 Act:01
FMMU1 Ls:00000208 Ll: 40 Lsb:0 Leb:7 Ps:1078 Psb:0 Ty:01 Act:01
FMMUfunc 0:1 1:0 2:0 3:0
MBX length wr: 8 rd: 8 MBX protocols : 08
CoE details: 00 FoE details: 01 EoE details: 00 SoE details: 00
Ebus current: 100[mA]
only LRD/LWR:0

Slave:8
Name:TMCM-1610
Output size: 320bits
Input size: 320bits
State: 4
Delay: 2040[ns]
Has DC: 1
DCParentport:1
Activeports:1.1.0.0
Configured address: 1008
Man: 00000286 ID: 00000070 Rev: 00000001
SM0 A:1100 L: 8 F:00010026 Type:1
SM1 A:1110 L: 8 F:00010022 Type:2
SM2 A:1000 L: 40 F:00010024 Type:3
SM3 A:1078 L: 40 F:00010020 Type:4
FMMU0 Ls:000000c8 Ll: 40 Lsb:0 Leb:7 Ps:1000 Psb:0 Ty:02 Act:01
FMMU1 Ls:00000230 Ll: 40 Lsb:0 Leb:7 Ps:1078 Psb:0 Ty:01 Act:01
FMMUfunc 0:1 1:0 2:0 3:0
MBX length wr: 8 rd: 8 MBX protocols : 08
CoE details: 00 FoE details: 01 EoE details: 00 SoE details: 00
Ebus current: 100[mA]
only LRD/LWR:0

Slave:9
Name:TMCM-1610
Output size: 320bits
Input size: 320bits
State: 4
Delay: 2185[ns]
Has DC: 1
DCParentport:1
Activeports:1.1.0.0
Configured address: 1009
Man: 00000286 ID: 00000070 Rev: 00000001
SM0 A:1100 L: 8 F:00010026 Type:1
SM1 A:1110 L: 8 F:00010022 Type:2
SM2 A:1000 L: 40 F:00010024 Type:3
SM3 A:1078 L: 40 F:00010020 Type:4
FMMU0 Ls:000000f0 Ll: 40 Lsb:0 Leb:7 Ps:1000 Psb:0 Ty:02 Act:01
FMMU1 Ls:00000258 Ll: 40 Lsb:0 Leb:7 Ps:1078 Psb:0 Ty:01 Act:01
FMMUfunc 0:1 1:0 2:0 3:0
MBX length wr: 8 rd: 8 MBX protocols : 08
CoE details: 00 FoE details: 01 EoE details: 00 SoE details: 00
Ebus current: 100[mA]
only LRD/LWR:0

Slave:10
Name:TMCM-1610
Output size: 320bits
Input size: 320bits
State: 4
Delay: 2330[ns]
Has DC: 1
DCParentport:1
Activeports:1.1.0.0
Configured address: 100a
Man: 00000286 ID: 00000070 Rev: 00000001
SM0 A:1100 L: 8 F:00010026 Type:1
SM1 A:1110 L: 8 F:00010022 Type:2
SM2 A:1000 L: 40 F:00010024 Type:3
SM3 A:1078 L: 40 F:00010020 Type:4
FMMU0 Ls:00000118 Ll: 40 Lsb:0 Leb:7 Ps:1000 Psb:0 Ty:02 Act:01
FMMU1 Ls:00000280 Ll: 40 Lsb:0 Leb:7 Ps:1078 Psb:0 Ty:01 Act:01
FMMUfunc 0:1 1:0 2:0 3:0
MBX length wr: 8 rd: 8 MBX protocols : 08
CoE details: 00 FoE details: 01 EoE details: 00 SoE details: 00
Ebus current: 100[mA]
only LRD/LWR:0

Slave:11
Name:TMCM-1610
Output size: 320bits
Input size: 320bits
State: 4
Delay: 2485[ns]
Has DC: 1
DCParentport:1
Activeports:1.0.0.0
Configured address: 100b
Man: 00000286 ID: 00000070 Rev: 00000001
SM0 A:1100 L: 8 F:00010026 Type:1
SM1 A:1110 L: 8 F:00010022 Type:2
SM2 A:1000 L: 40 F:00010024 Type:3
SM3 A:1078 L: 40 F:00010020 Type:4
FMMU0 Ls:00000140 Ll: 40 Lsb:0 Leb:7 Ps:1000 Psb:0 Ty:02 Act:01
FMMU1 Ls:000002a8 Ll: 40 Lsb:0 Leb:7 Ps:1078 Psb:0 Ty:01 Act:01
FMMUfunc 0:1 1:0 2:0 3:0
MBX length wr: 8 rd: 8 MBX protocols : 08
CoE details: 00 FoE details: 01 EoE details: 00 SoE details: 00
Ebus current: 100[mA]
only LRD/LWR:0
End slaveinfo, close socket
End program

Does anyone have an idea how to fix this?
Apparently, you have a newer youBot than one used to test this code..From the same slaveinfo, I get 11 slaves (as it should be, if you have the base+1arm), but your youBot has different actuator slaves than our..in particular:
TMCM-1610 <-> TMCM-KR-841 (x5, one for each arm joint)
TMCM-1632 <-> TMCM-174 ( x4, one for each wheel)

I don't know which hardware (and firmware) updates has been made between these versions, but the exchanged data between master and slaves will look similar I guess..(if not even the same....)
Into the code, "youbot_types.hpp" defines the expected slaves names: if they are "equivalent", it should be enough to replace these names...if not, very likely they will be some changes, mainly still in that source file, in order to make the data compatible.

I think these etherCAT slaves should be compatible, hence changing the name definition would be enough, but please be very careful on doing it till you are not sure about that...

I also posted the question in the youbot users mailing list, sorry for those who received it twice!
Maybe you can ask on the youbot users mailing list if these slaves are equivalent or not..

Regards,
- Enea

Best Regards,

Benj Keiser