Panther - boot sequence hanging

Help
1

Sometimes on boot up the Panther hangs. I would SSH into the onboard computer and it’ll show this message:

WARNING! Incorrect hardware configuration detected!
ROS drivers are prevented from starting!
If your system first booted on different robot, run:
sudo pth_hw_update_config
If no changes to hardware were made, contact support!

Steps to replicate the error:

  1. Battery is off. Robot is charging.
  2. Unplug charger. Turn battery on.
  3. Hold power button to boot up robot.
  4. Boot sequence hangs so I hold the power button again to power down.
  5. Hold power button to boot up robot and it’s good.

Is there something I can do to prevent the robot from hanging when powering on the robot? Booting up the Husarion Panther successfully has been inconsistent and would have to wait several minutes to boot up and shutdown.

If the robot doesn’t boot, I just shut it down and try again and hope it works.

2

Hello @nicholaschan23,

warning
Please execute sudo pth_hw_update_config. The warning should disappear.
Probably you reinstall the RPi4 this OS and that’s why you see this warning.

booting
What changes do you made. Have you add any docker services to rpi compose.yaml?

I deleted one of your topic, because is corelated with this issue.

3

Well one problem is the robot hangs on boot up. The other is the times it boots up, it would randomly crash/freeze seen by the LED bar no longer animating and unable to SSH to RPi. Do you think it stems from the same issue?

What’s considered a hardware change? There are times the robot boots successfully and SSHing in the RPi does not show this warning. Should I just run that script the next time I see that warning?

I’ll ask my team and get you an answer.

4

Warning

The warning related to pth_hw_update_config, it may appear when logging in quickly via SSH and some variables were not sourced correctly. The script adds configuration variables based on detected hardware. However, you can do it again just to be sure.

Booting/Crashing Issue

If the problem persists, please let me know what changes have been made. If there are a lot of changes, I would recommend reinstalling the system.

It is also a good idea to collect logs using the docker compose logs command. First, it is a good idea to reset the container using docker compose down and then docker compose up.