PR2 Problems

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Robot Unresponsiveness

Major

C2 Goes Down

10/19/2011 (Hai) 10/19/2011 (Kelsey x 2)

Completely Unresponsive

Computers cannot be contacted by any means, attempts to log in through wireless, service port, and LAN are all unsuccessful. Additionally, the wireless router does not seem to be broadcasting a signal. The robot shows little signs of activity aside from lights and fans. Only fixed through hard boot.

Occurrences: 6/30/11 (Gatsbii) - Kelsey, 7/7/11 (Gatsbii) - Kelsey, 7/7/11 (New PR2) - Kelsey, 8/9/11 Morning (Gatsbii) - HFA, 8/9/11 Evening (Gatsbii) - Kelsey, 9/6/11 (Gatsbii) - Kelsey, 9/6/11 (New PR2) - Tucker, 11/15/11 (New PR2) - Kelsey/Phil, 6/7/12 (Gatsbii)

Hypotheses:

  • Related to networking? Hostnames unresponsive to DNS queries for all computers - coincidence? Also infrequent yet will occur frequently in a small time frame (across both robots in one instance).

Network Failure

Similarly, on a number of occasions, the network connections seem to largely fail, allowing burst of communication every 5-10 seconds. pr2-systemcheck shows 'all/vpnconnectivity/sh...' FAIL (Return code: 1), and the only evident solution appears to be power-cycling the robot. Wireless does still work in this situation, however.

Occurrences: 3-4 times before 7/19/11 (New PR2) - Phil, 7/19/11 (New PR2) - Phil, 7/26/11 (New PR2) - Phil


Minor

Occasionally a substantial number of diagnostic messages go idle, and the robot becomes impossible to control through teleop or other control schemes. The computers are still active though and a robot stop and start usually fixes this.

Unresponsive diagnostics


Occurrences: 6/22/11 (New PR2) - Kelsey, 6/27/11 (New PR2) - Kelsey

Motor Breakers Activate on Controller Switch

Sometimes when switching the controllers the breakers will activate, stopping the arms. Reseting the breakers fixes this.

Occurrences: 6/27/11 (New PR2) - Kelsey, 6/28/11 (New PR2) - Kelsey

Hypotheses:

  • If the starting code in the controller loaded takes more time than the realtime loop allows, the motors will stop.

Ethercat / Real-time controllers Down

Logged in and robot was operating slowly and no diagnostic information was being communicated about ethercat devices and the real-time controllers. pr2-systemcheck gave an error when comunicating to the ethercat network. robot stop && robot start did not fix the problem. pr2-shutdown --reboot fixed the issue.

Occurences: 3 July 2012 (Gatsbii) - Tucker