Hello,
I am running Robert's Ubuntu image with ROS pre-installed on a
BeaglewBone Blue, and have not figured out how to get the full
robotcontrol system to work.
This is the image I am running:
https://rcn-ee.net/rootfs/bb.org/testing/2019-03-03/bionic-ros-iot/bone-ubuntu-18.04.2-ros-iot-armhf-2019-03-03-6gb.img.xz
Here is a typical error:
beagle@beaglebone:~$ rc_check_battery
ERROR in rc_adc_init, failed to open iio adc interface
: No such file or directory
Perhaps kernel or device tree is too old
I did a source install of the robotcontrol utilities, no change.
Some additional clues are below.
I must be missing something obvious. I would be grateful for any
pointers.
Thanks and Best Regards,
-Louis
beagle@beaglebone:~$ uname -a
Linux beaglebone 4.19.25-ti-rt-r12 #1bionic SMP PREEMPT RT Fri Mar 1
07:53:07 UTC 2019 armv7l armv7l armv7l GNU/Linux
beagle@beaglebone:~$
beagle@beaglebone:~$ rc_test_drivers
Kernel: 4.19.25-ti-rt-r12
BeagleBoard.org ROS Image 2019-03-03
Debian: buster/sid
PASSED: gpio 0
PASSED: gpio 1
PASSED: gpio 2
PASSED: gpio 3
PASSED: pwm0
PASSED: pwm1
PASSED: pwm2
PASSED: eqep0
PASSED: eqep1
PASSED: eqep2
ERROR: pru-rproc driver not loaded
PASSED: uart1
PASSED: uart2
PASSED: uart4
PASSED: uart5
PASSED: i2c1
PASSED: i2c2
PASSED: spi
PASSED: LED
ERROR: ADC iio driver not loaded
Currently running on a:
MODEL_BB_BLUE
Robot Control library Version:
1.0.4
beagle@beaglebone:~$ sudo systemctl status robotcontrol.service
● robotcontrol.service - robotcontrol
Loaded: loaded (/lib/systemd/system/robotcontrol.service; enabled;
vendor preset: enabled)
Active: failed (Result: exit-code) since Sun 2019-04-14 22:00:35
UTC; 8min ago
Process: 3313 ExecStartPre=/usr/bin/rc_startup_routine (code=exited,
status=255)
Apr 14 22:00:35 beaglebone systemd[1]: Starting robotcontrol...
Apr 14 22:00:35 beaglebone rc_startup_routine[3313]: timeout reached
while waiting for PRU remoteproc dr
Apr 14 22:00:35 beaglebone rc_startup_routine[3313]: TIMEOUT REACHED
Apr 14 22:00:35 beaglebone systemd[1]: robotcontrol.service: Control
process exited, code=exited status=
Apr 14 22:00:35 beaglebone systemd[1]: robotcontrol.service: Failed with
result 'exit-code'.
Apr 14 22:00:35 beaglebone systemd[1]: Failed to start robotcontrol.
beagle@beaglebone:~$
beagle@beaglebone:~$ more /var/log/robotcontrol/startup_log.txt
start time (s): 2282.24
time (s): 2282.33 GPIO loaded
time (s): 2282.34 PWM loaded
time (s): 2282.35 eQEP loaded
TIMEOUT_REACHED
timeout reached while waiting for PRU remoteproc driver
beagle@beaglebone:~$
beagle@beaglebone:~$ sudo /opt/scripts/tools/version.sh
git:/opt/scripts/:[36a476c67f707ba2698bfb30452ebd2951162ce2]
eeprom:[A335BNLTBLA21717EL003552]
model:[TI_AM335x_BeagleBone_Blue]
dogtag:[BeagleBoard.org ROS Image 2019-03-03]
bootloader:[microSD-(push-button)]:[/dev/mmcblk0]:[U-Boot
2018.09-00002-g08ae12f051]:[location: dd MBR]
bootloader:[eMMC-(default)]:[/dev/mmcblk1]:[U-Boot
2017.05-rc1-00002-g35aecb]:[location: dd MBR]
kernel:[4.19.25-ti-rt-r12]
nodejs:[v8.10.0]
uboot_overlay_options:[enable_uboot_overlays=1]
uboot_overlay_options:[enable_uboot_cape_universal=1]
pkg check: to individually upgrade run: [sudo apt install --only-upgrade
<pkg>]
pkg:[bb-cape-overlays]:[4.4.20190404.0-0rcnee0~bionic+20190404]
pkg:[bb-wl18xx-firmware]:[1.20190227.1-0rcnee0~bionic+20190227]
pkg:[kmod]:[24-1ubuntu3.2rcnee0~bionic+20190208]
pkg:[librobotcontrol]:[1.0.4-git20190227.1-0rcnee0~bionic+20190327]
groups:[beagle : beagle adm kmem dialout cdrom floppy audio dip video
plugdev users systemd-journal bluetooth netdev i2c cloud9ide gpio pwm
eqep admin spi tisdk weston-launch xenomai]
cmdline:[console=ttyO0,115200n8 root=/dev/mmcblk0p1 ro rootfstype=ext4
rootwait coherent_pool=1M net.ifnames=0 quiet]
dmesg | grep pinctrl-single
[ 1.402492] pinctrl-single 44e10800.pinmux: 142 pins, size 568
dmesg | grep gpio-of-helper
beagle@beaglebone:~$
-------------------------------------------------------------
Louis L. Whitcomb, Ph.D.
Professor, Department of Mechanical Engineering
115 Hackerman Hall, 3400 N. Charles Street
Johns Hopkins University, Baltimore, MD, 21218-2681
l...@jhu.edu, 410-516-6724, https://dscl.lcsr.jhu.edu
-------------------------------------------------------------
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