IO exception #1
robofootlab
commented
Collaborator
```
root@58bd6feec3b1:/workspaces/ur_dh_teleop_ws# ros2 launch dh_gripper_driver dh_ag95_control.launch.py com_port:=/dev/robot/dh_ag95_gripper
[INFO] [launch]: All log files can be found below /root/.ros/log/2025-07-09-17-37-12-861140-58bd6feec3b1-1099
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ros2_control_node-1]: process started with pid [1104]
[INFO] [robot_state_publisher-2]: process started with pid [1105]
[INFO] [rviz2-3]: process started with pid [1106]
[INFO] [spawner-4]: process started with pid [1107]
[INFO] [spawner-5]: process started with pid [1108]
[robot_state_publisher-2] [INFO] [1752082633.179399186] [robot_state_publisher]: Robot initialized
[rviz2-3] qt.qpa.xcb: could not connect to display :1
[rviz2-3] qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "" even though it was found.
[rviz2-3] This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.
[rviz2-3]
[rviz2-3] Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, offscreen, vnc, xcb.
[rviz2-3]
[ros2_control_node-1] [INFO] [1752082633.193221995] [controller_manager]: Using Steady (Monotonic) clock for triggering controller manager cycles.
[ros2_control_node-1] [INFO] [1752082633.199587410] [controller_manager]: Subscribing to '/robot_description' topic for robot description.
[ros2_control_node-1] [INFO] [1752082633.203441481] [controller_manager]: update rate is 500 Hz
[ros2_control_node-1] [INFO] [1752082633.203481640] [controller_manager]: Spawning controller_manager RT thread with scheduler priority: 50
[ros2_control_node-1] [WARN] [1752082633.203564674] [controller_manager]: Could not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.
[ros2_control_node-1] [INFO] [1752082633.210071953] [controller_manager]: Received robot description from topic.
[ros2_control_node-1] [INFO] [1752082633.213761189] [controller_manager]: Loading hardware 'dh_ag95_gripper'
[ros2_control_node-1] [INFO] [1752082633.214503094] [controller_manager]: Loaded hardware 'dh_ag95_gripper' from plugin 'dh_gripper_driver/DHGripperHardwareInterface'
[ros2_control_node-1] [INFO] [1752082633.214551391] [controller_manager]: Initialize hardware 'dh_ag95_gripper'
[ros2_control_node-1] [INFO] [1752082633.214613686] [DefaultDriverFactory]: Reading slave_address...
[ros2_control_node-1] [INFO] [1752082633.214622711] [DefaultDriverFactory]: slave_address: 1
[ros2_control_node-1] [INFO] [1752082633.214626672] [DefaultDriverFactory]: Reading gripper_speed_multiplier...
[ros2_control_node-1] [INFO] [1752082633.214631126] [DefaultDriverFactory]: gripper_speed_multiplier: 1.000000s
[ros2_control_node-1] [INFO] [1752082633.214636385] [DefaultDriverFactory]: Reading gripper_force_multiplier...
[ros2_control_node-1] [INFO] [1752082633.214640297] [DefaultDriverFactory]: gripper_force_multiplier: 0.500000s
[ros2_control_node-1] [INFO] [1752082633.214650494] [DefaultSerialFactory]: Reading COM_port...
[ros2_control_node-1] [INFO] [1752082633.214654964] [DefaultSerialFactory]: COM_port: /dev/robot/dh_ag95_gripper
[ros2_control_node-1] [INFO] [1752082633.214658344] [DefaultSerialFactory]: Reading baudrate...
[ros2_control_node-1] [INFO] [1752082633.214661644] [DefaultSerialFactory]: baudrate: 115200bps
[ros2_control_node-1] [INFO] [1752082633.214665120] [DefaultSerialFactory]: Reading timeout...
[ros2_control_node-1] [INFO] [1752082633.214668718] [DefaultSerialFactory]: timeout: 0.500000s
[ros2_control_node-1] [INFO] [1752082633.214699501] [controller_manager]: Successful initialization of hardware 'dh_ag95_gripper'
[ros2_control_node-1] [INFO] [1752082633.214814881] [resource_manager]: 'configure' hardware 'dh_ag95_gripper'
[ros2_control_node-1] [WARN] [1752082633.214864936] [DHGripperHardwareInterface]: IOException while connecting to the DH gripper: IO Exception (2): No such file or directory, file /workspaces/ur_dh_teleop_ws/src/serial_ros2/src/impl/unix.cc, line 151., retrying...
[ERROR] [rviz2-3]: process has died [pid 1106, exit code -6, cmd '/opt/ros/jazzy/lib/rviz2/rviz2 -d /workspaces/ur_dh_teleop_ws/install/dh_gripper_driver/share/dh_gripper_driver/rviz/dh_ag95_control.rviz --ros-args -r __node:=rviz2'].
[spawner-5] [INFO] [1752082633.406708517] [spawner_forward_position_controller]: waiting for service /controller_manager/list_controllers to become available...
[ros2_control_node-1] [WARN] [1752082634.214944160] [DHGripperHardwareInterface]: IOException while connecting to the DH gripper: IO Exception (2): No such file or directory, file /workspaces/ur_dh_teleop_ws/src/serial_ros2/src/impl/unix.cc, line 151., retrying...
[ros2_control_node-1] [WARN] [1752082635.215048291] [DHGripperHardwareInterface]: IOException while connecting to the DH gripper: IO Exception (2): No such file or directory, file /workspaces/ur_dh_teleop_ws/src/serial_ros2/src/impl/unix.cc, line 151., retrying...
[ros2_control_node-1] [WARN] [1752082636.215154602] [DHGripperHardwareInterface]: IOException while connecting to the DH gripper: IO Exception (2): No such file or directory, file /workspaces/ur_dh_teleop_ws/src/serial_ros2/src/impl/unix.cc, line 151., retrying...
[ros2_control_node-1] [WARN] [1752082637.215243277] [DHGripperHardwareInterface]: IOException while connecting to the DH gripper: IO Exception (2): No such file or directory, file /workspaces/ur_dh_teleop_ws/src/serial_ros2/src/impl/unix.cc, line 151., retrying...
[ros2_control_node-1] [WARN] [1752082638.215346394] [DHGripperHardwareInterface]: IOException while connecting to the DH gripper: IO Exception (2): No such file or directory, file /workspaces/ur_dh_teleop_ws/src/serial_ros2/src/impl/unix.cc, line 151., retrying...
[ros2_control_node-1] [WARN] [1752082639.215442827] [DHGripperHardwareInterface]: IOException while connecting to the DH gripper: IO Exception (2): No such file or directory, file /workspaces/ur_dh_teleop_ws/src/serial_ros2/src/impl/unix.cc, line 151., retrying...
[ros2_control_node-1] [WARN] [1752082640.215545136] [DHGripperHardwareInterface]: IOException while connecting to the DH gripper: IO Exception (2): No such file or directory, file /workspaces/ur_dh_teleop_ws/src/serial_ros2/src/impl/unix.cc, line 151., retrying...
[ros2_control_node-1] [WARN] [1752082641.215657130] [DHGripperHardwareInterface]: IOException while connecting to the DH gripper: IO Exception (2): No such file or directory, file /workspaces/ur_dh_teleop_ws/src/serial_ros2/src/impl/unix.cc, line 151., retrying...
[ros2_control_node-1] [WARN] [1752082642.215763512] [DHGripperHardwareInterface]: IOException while connecting to the DH gripper: IO Exception (2): No such file or directory, file /workspaces/ur_dh_teleop_ws/src/serial_ros2/src/impl/unix.cc, line 151., retrying...
[ros2_control_node-1] [ERROR] [1752082643.215837139] [DHGripperHardwareInterface]: Cannot connect to the DH gripper after 10 retries
[ros2_control_node-1] [ERROR] [1752082643.215864092] [resource_manager]: Failed to 'configure' hardware 'dh_ag95_gripper'
[ros2_control_node-1] terminate called after throwing an instance of 'std::runtime_error'
[ros2_control_node-1] what(): Failed to set the initial state of the component : dh_ag95_gripper to active
[ros2_control_node-1] Stack trace (most recent call last):
[ros2_control_node-1] #18 Object "", at 0xffffffffffffffff, in
[ros2_control_node-1] #17 Object "/opt/ros/jazzy/lib/controller_manager/ros2_control_node", at 0x5b762fd2bfd4, in _start
[ros2_control_node-1] #16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x704a1335528a, in __libc_start_main
[ros2_control_node-1] #15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x704a133551c9, in
[ros2_control_node-1] #14 Object "/opt/ros/jazzy/lib/controller_manager/ros2_control_node", at 0x5b762fd2af74, in main
[ros2_control_node-1] #13 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x704a13933343, in rclcpp::executors::MultiThreadedExecutor::spin()
[ros2_control_node-1] #12 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x704a13933026, in rclcpp::executors::MultiThreadedExecutor::run(unsigned long)
[ros2_control_node-1] #11 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x704a13920c39, in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&)
[ros2_control_node-1] #10 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x704a1392050a, in rclcpp::Executor::execute_subscription(std::shared_ptr<rclcpp::SubscriptionBase>)
[ros2_control_node-1] #9 Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x704a13baea94, in
[ros2_control_node-1] #8 Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x704a13b3398a, in controller_manager::ControllerManager::robot_description_callback(std_msgs::msg::String_<std::allocator<void> > const&)
[ros2_control_node-1] #7 Object "/opt/ros/jazzy/lib/libcontroller_manager.so", at 0x704a13b02910, in
[ros2_control_node-1] #6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x704a13628390, in __cxa_throw
[ros2_control_node-1] #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x704a13612a54, in std::terminate()
[ros2_control_node-1] #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x704a136280d9, in
[ros2_control_node-1] #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x704a13612ff4, in
[ros2_control_node-1] #2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x704a133538fe, in abort
[ros2_control_node-1] #1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x704a1337027d, in raise
[ros2_control_node-1] #0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x704a133c9b2c, in pthread_kill
[ros2_control_node-1] Aborted (Signal sent by tkill() 1104 0)
[ERROR] [ros2_control_node-1]: process has died [pid 1104, exit code -6, cmd '/opt/ros/jazzy/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_xqwatrd3 --params-file /workspaces/ur_dh_teleop_ws/install/dh_gripper_driver/share/dh_gripper_driver/config/dh_ag95_controllers.yaml -r controller_manager/robot_description:=robot_description'].
[spawner-5] [WARN] [1752082643.411259577] [spawner_forward_position_controller]: Could not contact service /controller_manager/list_controllers
[spawner-5] [INFO] [1752082643.412142847] [spawner_forward_position_controller]: waiting for service /controller_manager/list_controllers to become available...
```
solid-sinusoid
was assigned by robofootlab
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Reference: solid-sinusoid/dh_ag95_gripper_ros2#1
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