[ros-users] Problems with the Smart Arm controller

[Nathaniel Lewis]

So I've only been messing with ROS for about 16 hours now but I am
trying to get my smart arm working.  I downloaded the smart arm
controller and all of its dependencies.  I have it installed and it runs
partially.  The motors for single motor joints (the base, gripper left +
right, and wrist rotate) work but the double motor joints (the elbow and
the shoulder) don't start.  I do get error messages out but I have been
working on this for 5 hours and I can't figure out what is happening.

NODES
  /
    joint_position_controller
(ax12_controller_core/controller_manager.py)
    smart_arm_controller_spawner
(ax12_controller_core/controller_spawner.py)

ROS_MASTER_URI=http://XtremePC:11311/

core service [/rosout] found
process[joint_position_controller-1]: started with pid [10418]
process[smart_arm_controller_spawner-2]: started with pid [10419]
[INFO] 1289772389.729187: Pinging motor IDs 1 through 25...
[INFO] 1289772390.055994: Found motors with IDs: [2, 5, 6, 7, 9, 11, 16,
17].
[INFO] 1289772391.122651: There are 8 AX-12+ servos connected
[INFO] 1289772391.123894: Dynamixel Manager on port /dev/ttyUSB0
initialized
[INFO] 1289772391.319317: Controller shoulder_pan_controller
successfully started.
Traceback (most recent call last):
  File "/ros/ros/core/rospy/src/rospy/impl/tcpros_service.py", line 600,
in _handle_request
    response = convert_return_to_response(self.handler(request),
self.response_class)
  File
"/ros/stacks/ua_controllers/ax12_controller_core/src/ax12_controller_core/controller_manager.py", line 100, in start_controller
    controller = kls(self.serial_proxy.queue_new_packet,
controller_name, port_name)
TypeError: __init__() takes exactly 3 arguments (4 given)
[ERROR] 1289772391.339274: Error processing request: __init__() takes
exactly 3 arguments (4 given)
None
No handlers could be found for logger "rosout"
[ERROR] 1289772391.340164: Service call failed: service
[/start_controller/ttyUSB0] responded with an error: error processing
request: __init__() takes exactly 3 arguments (4 given)
Traceback (most recent call last):
  File "/ros/ros/core/rospy/src/rospy/impl/tcpros_service.py", line 600,
in _handle_request
    response = convert_return_to_response(self.handler(request),
self.response_class)
  File
"/ros/stacks/ua_controllers/ax12_controller_core/src/ax12_controller_core/controller_manager.py", line 100, in start_controller
    controller = kls(self.serial_proxy.queue_new_packet,
controller_name, port_name)
TypeError: __init__() takes exactly 3 arguments (4 given)
[ERROR] 1289772391.392157: Error processing request: __init__() takes
exactly 3 arguments (4 given)
None
[ERROR] 1289772391.393546: Service call failed: service
[/start_controller/ttyUSB0] responded with an error: error processing
request: __init__() takes exactly 3 arguments (4 given)
[INFO] 1289772391.510287: Controller wrist_rotate_controller
successfully started.
[INFO] 1289772391.619861: Controller finger_right_controller
successfully started.
[INFO] 1289772391.732805: Controller finger_left_controller successfully
started.
[smart_arm_controller_spawner-2] process has finished cleanly.
log
file: /home/teknoman117/.ros/log/24a8bab6-f03b-11df-9529-001bfc250504/smart_arm_controller_spawner-2*.log

										Nathaniel Lewis