Panther: OS for Z2 Mini

Software
8

Hello @RafalGorecki,

I’m following up on the install, as I’ve been slowly working through various setup items.
We successfully installed the OS for the built-in computer, and updated our internal user computer. We by-and-large have the sensors (velodyne & zed) working, but I haven’t got to the UR.

However, we have run into a fairly major problem. (I hadn’t initially noticed this on re-installing the built-in computer). It seems to be the same issue from this recent thread, but expanded beyond just the IMU.

The issue appears to be that the hardware controller manager isn’t reporting data or publishing the expected topics. We are not getting topics/data/transform-frames for:

  • Wheels
    • The TF frame publishing for the wheels doesn’t report. More specifically, One frame gets published, and then nothing further, so the transform frame expires. (see screenshot).
    • There is no output on the topic /panther/odometry/wheels, and only the ekf_filter node as a subscriber, so it’s only created by the EFK filter node.
    • This results in an error No transform from [/panther/fl_wheel_link] to [panther/odom]
    • It seems, after re-launching the default panther_ros node multiple times that the hardware controller launches, publishing something, and then doesn’t publish further.
  • IMU
    • We don’t get any IMU publishers.
    • The /panther/imu/data topic sometimes appears, but only with ekf_filter node as a subscriber
    • The result is mapping packages (such as cartographer) that require the IMU report that no IMU data can be found.

However, what is strange is that we do get filtered odmoetry on the topic /panther/odometry/filtered. We also get a valid odom TF frame.

Any assistance would be greatly appreciated.

Some additional de-bugging info.

  • Our Panther version is v1.2
  • I am using the docker image: husarion/panther:humble-2.1.2-20241125, without modification (for now), and the default bring_up script.
  • I have spotted two ‘GPIO controller’ errors in the logs which may/may-not be related
panther_ros               | [ros2_control_node-1] NMT: entering operational state
panther_ros               | [ros2_control_node-1] error: SDO abort code 05040000 received on upload request of object 1000 (Device type) to node 01: SDO protocol timed out
panther_ros               | [ros2_control_node-1] error: SDO abort code 05040000 received on upload request of object 1000 (Device type) to node 02: SDO protocol timed out
  • I have run sudo pth_hw_update_config multiple times, and the machine reports that the hardware is up-to-date. However, very occasionally when I reboot the machine from power-on, I get the incorrect hardware warning.
  • Available topics (on .2) are:
/panther/cmd_vel
/panther/diagnostics
/panther/dynamic_joint_states
/panther/hardware/e_stop
/panther/hardware/io_state
/panther/hardware/motor_controllers_state
/panther/joint_states
/panther/joy
/panther/joy/set_feedback
/panther/robot_description
/panther/system_status
/panther/velodyne/scan
/panther/velodyne/velodyne_packets
/panther/velodyne/velodyne_points