[WARN] [dynamixel_hardware_interface]: No position interface found in command interfaces for joint 'FL_wheel'. Skipping sync! #89
Description
Hello everyone,
I am using dynamixel_hardware_interface for my 4WIS4WID mobile robot, where I have 4 steering motors which are position controlled as well as 4 driving motors which are velocity controlled.
When I run everything works — I can send commands and motors are running — but I always get these warnings:
[WARN] [1760039933.972482687] [dynamixel_hardware_interface]: No position interface found in command interfaces for joint 'FL_wheel'. Skipping sync!
[WARN] [1760039933.972522102] [dynamixel_hardware_interface]: No position interface found in command interfaces for joint 'BL_wheel'. Skipping sync!
[WARN] [1760039933.972529999] [dynamixel_hardware_interface]: No position interface found in command interfaces for joint 'BR_wheel'. Skipping sync!
[WARN] [1760039933.972537054] [dynamixel_hardware_interface]: No position interface found in command interfaces for joint 'FR_wheel'. Skipping sync!
I am not sure if I should be worried about those or not.
I am sending you my .ros2_control.xacro and controllers.yaml files:
.ros2_control.xacro
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<ros2_control name="WCRHardwareInterface" type="system">
<hardware>
<plugin>dynamixel_hardware_interface/DynamixelHardware</plugin>
<param name="port_name">/dev/ttyUSB0</param>
<param name="baud_rate">4500000</param>
<param name="disable_torque_at_init">true</param>
<param name="error_timeout_ms">500</param>
<param name="dynamixel_model_folder">/param/dxl_model</param>
<param name="number_of_joints">8</param>
<param name="number_of_transmissions">8</param>
<param name="transmission_to_joint_matrix">1,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,1</param>
<param name="joint_to_transmission_matrix">1,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,1</param>
<param name="dynamixel_state_pub_msg_name">dynamixel_hardware_interface/dxl_state</param>
<param name="get_dynamixel_data_srv_name">dynamixel_hardware_interface/get_dxl_data</param>
<param name="set_dynamixel_data_srv_name">dynamixel_hardware_interface/set_dxl_data</param>
<param name="reboot_dxl_srv_name">dynamixel_hardware_interface/reboot_dxl</param>
<param name="set_dxl_torque_srv_name">dynamixel_hardware_interface/set_dxl_torque</param>
<!-- This parameter is used for a prismatic joint that operates through a revolute mechanism.
If the joint does not require this configuration, this parameter can be removed. -->
<!--<param name="use_revolute_to_prismatic_gripper">1</param>-->
<!--<param name="revolute_to_prismatic_dxl">dxl</param>-->
<!--<param name="revolute_max">1.51</param>-->
<!--<param name="revolute_min">0.56</param>-->
<!--<param name="revolute_to_prismatic_joint">left_finger_joint</param>-->
<!--<param name="prismatic_max">0.019</param>-->
<!--<param name="prismatic_min">-0.01</param>-->
</hardware>
<!--JOINTS-->
<joint name="FL_wheel">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="BL_wheel">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="BR_wheel">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FR_wheel">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FL_steering">
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="BL_steering">
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="BR_steering">
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="FR_steering">
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<gpio name="dxl1">
<param name="type">dxl</param>
<param name="ID">1</param>
<command_interface name="Goal Velocity"/>
<state_interface name="Present Position"/>
<state_interface name="Present Velocity"/>
<state_interface name="Present Current"/>
<param name="Operating Mode">1</param>
<param name="Velocity P Gain">100</param>
<param name="Velocity I Gain">1920</param>
<param name="Drive Mode">0</param>
<param name="Return Delay Time">0</param>
</gpio>
<gpio name="dxl2">
<param name="type">dxl</param>
<param name="ID">2</param>
<command_interface name="Goal Velocity"/>
<state_interface name="Present Position"/>
<state_interface name="Present Velocity"/>
<state_interface name="Present Current"/>
<param name="Operating Mode">1</param>
<param name="Velocity P Gain">100</param>
<param name="Velocity I Gain">1920</param>
<param name="Drive Mode">0</param>
<param name="Return Delay Time">0</param>
</gpio>
<gpio name="dxl3">
<param name="type">dxl</param>
<param name="ID">3</param>
<command_interface name="Goal Velocity"/>
<state_interface name="Present Position"/>
<state_interface name="Present Velocity"/>
<state_interface name="Present Current"/>
<param name="Operating Mode">1</param>
<param name="Velocity P Gain">100</param>
<param name="Velocity I Gain">1920</param>
<param name="Drive Mode">1</param>
<param name="Return Delay Time">0</param>
</gpio>
<gpio name="dxl4">
<param name="type">dxl</param>
<param name="ID">4</param>
<command_interface name="Goal Velocity"/>
<state_interface name="Present Position"/>
<state_interface name="Present Velocity"/>
<state_interface name="Present Current"/>
<param name="Operating Mode">1</param>
<param name="Velocity P Gain">100</param>
<param name="Velocity I Gain">1920</param>
<param name="Drive Mode">1</param>
<param name="Return Delay Time">0</param>
</gpio>
<gpio name="dxl5">
<param name="type">dxl</param>
<param name="ID">5</param>
<command_interface name="Goal Position"/>
<state_interface name="Present Position"/>
<state_interface name="Present Velocity"/>
<state_interface name="Present Current"/>
<param name="Operating Mode">3</param>
<param name="Position P Gain">900</param>
<param name="Position I Gain">0</param>
<param name="Position D Gain">0</param>
<param name="Drive Mode">3</param>
<param name="Return Delay Time">0</param>
</gpio>
<gpio name="dxl6">
<param name="type">dxl</param>
<param name="ID">6</param>
<command_interface name="Goal Position"/>
<state_interface name="Present Position"/>
<state_interface name="Present Velocity"/>
<state_interface name="Present Current"/>
<param name="Operating Mode">3</param>
<param name="Position P Gain">900</param>
<param name="Position I Gain">0</param>
<param name="Position D Gain">0</param>
<param name="Drive Mode">3</param>
<param name="Return Delay Time">0</param>
</gpio>
<gpio name="dxl7">
<param name="type">dxl</param>
<param name="ID">7</param>
<command_interface name="Goal Position"/>
<state_interface name="Present Position"/>
<state_interface name="Present Velocity"/>
<state_interface name="Present Current"/>
<param name="Operating Mode">3</param>
<param name="Position P Gain">900</param>
<param name="Position I Gain">0</param>
<param name="Position D Gain">0</param>
<param name="Drive Mode">3</param>
<param name="Return Delay Time">0</param>
</gpio>
<gpio name="dxl8">
<param name="type">dxl</param>
<param name="ID">8</param>
<command_interface name="Goal Position"/>
<state_interface name="Present Position"/>
<state_interface name="Present Velocity"/>
<state_interface name="Present Current"/>
<param name="Operating Mode">3</param>
<param name="Position P Gain">900</param>
<param name="Position I Gain">0</param>
<param name="Position D Gain">0</param>
<param name="Drive Mode">3</param>
<param name="Return Delay Time">0</param>
</gpio>
</ros2_control>
</robot>controllers.yaml
controller_manager:
ros__parameters:
update_rate: 200 # Hz
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
forward_velocity_controller:
type: forward_command_controller/ForwardCommandController
forward_position_controller:
type: forward_command_controller/ForwardCommandController
joint_state_broadcaster:
ros__parameters:
joints:
- FL_wheel
- BL_wheel
- BR_wheel
- FR_wheel
- FL_steering
- BL_steering
- BR_steering
- FR_steering
forward_velocity_controller:
ros__parameters:
joints:
- FL_wheel
- BL_wheel
- BR_wheel
- FR_wheel
interface_name: velocity
forward_position_controller:
ros__parameters:
joints:
- FL_steering
- BL_steering
- BR_steering
- FR_steering
interface_name: position