Errors

Errosrs to avoid

ATTENTION:

When powering off the robot or disabling the torque, be aware that the robot will collapse. Ensure it is securely supported to prevent damage.
Connect power before USB signal
Connect correct power suply to the robot. ()

Fix errors during installation

If during installation, yo get error because a package didn't compile:
- download it manually:
  - apt-cache search <package_name> → sudo apt install <the ros-noetic-.. package> → rm -rf ~/interbotix_ws/ → run the installation again.
- Usually the pakages that need manual installation to avoid compiling errors are:
  - sudo apt install ros-noetic-dynamixel-workbench-controllers
  - sudo apt install ros-noetic-moveit-commander
  - sudo apt install ros-noetic-apriltag-ros
  - sudo apt install ros-noetic-rqt-joint-trajectory-controller
  - sudo apt install ros-noetic-pilz-control
  - sudo apt install ros-noetic-moveit-visual-tools
  - sudo apt install ros-noetic-joy
  - sudo apt install ros-noetic-realsense2-camera
  - sudo apt install ros-noetic-effort-controllers

Fix motor mulfctioning

When motor start falshing red once every seconds (more or less):

Unplug/replug power from from the motor hub and try again.
Use reboot_motors service
- Where cmd_type: single/group
- Where name: name group (ex: arm), or the signle joint (ex: elbow (ID4)/shoulder (ID2)) find it in config file here

Resources