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USB, camera, and troubleshooting

README · Setup · Testing

Hardware and Software Environment

Robot hardware:

  • Sagittarius robotic arm.
  • Sagittarius MoveIt configuration.
  • Sagittarius SDK / sgr_ctrl.
  • ROS namespace: /sgr532.
  • Serial device usually mapped as /dev/ttyACM0 or /dev/sagittarius -> /dev/ttyACM0.
  • Under WSL2, USB serial passthrough usually requires Windows usbipd.

Camera hardware:

  • UVC camera through ROS usb_cam.
  • Default device: /dev/video0.
  • Default image settings: 640x480, 10 FPS, MJPEG.

Compute platform:

  • Ubuntu 20.04 / WSL2 Ubuntu 20.04.
  • ROS Noetic.
  • CUDA-capable GPU recommended for GroundingDINO.
  • CPU inference is possible but too slow for comfortable real-robot testing.

Inspect USB and camera devices

On the Ubuntu robot host, these commands list devices without starting robot nodes:

lsusb
ls -l /dev/ttyACM* /dev/sagittarius /dev/video*

Under WSL2, Windows usbipd attachment is a separate setup step. The serial helper can create /dev/sagittarius and change permissions using sudo; review it before running. Do not assume /dev/ttyACM0 or /dev/video0 identifies the same device after reconnecting. Prefer a stable UVC connection or native Ubuntu if passthrough repeatedly fails.

A two-machine ROS arrangement was proposed historically, but no portable two-machine deployment was validated in the November audit. Keep ROS master / hostname settings specific to the chosen host rather than copying old machine addresses.

Detection is correct, but the arm misses

Check the active vision_config*.yaml, observation pose, camera resolution, and whether calibration used the same center definition as runtime. Inspect the raw frame, selected ROI, HSV-refined center, and mapped XY in order. HSV failure falls back to the box center; a plausible detector box does not prove accurate geometry.

MoveIt reports self-collision or invalid start state

Start state appears to be in collision, invalid path, or contact between sgr532/link1 and sgr532/link5 can reflect an actual bad initial state. The work log also records a loose-joint arm during development. Inspect the physical arm and RViz state before a new session. Do not disable collision checking or change hardware safety settings to make a demo proceed.

Placement target missing or unstable

The place stage observes again after grasping. A bucket outside the view, partially occluded, or deliberately moved may never form a stable target. Record this as a failed/incomplete task, even if rejection works as intended. The software's confidence and center checks do not establish full system safety.

GroundingDINO does not load

Check the chosen interpreter imports cv_bridge, torch, groundingdino, and cv2; check config/weights paths and CUDA / torch library paths in setup. The helper's offline Hugging Face defaults require a cached BERT tokenizer/model. The checkpoint and historical package versions are not bundled or locked.

Debug outputs

State topic:

rostopic echo /language_guided_grasp/state

Annotated image topic:

/language_guided_grasp/annotated_image

Common saved images:

/tmp/language_guided_grasp_raw_single_gpu.jpg
/tmp/language_guided_grasp_single_gpu.jpg
/tmp/language_guided_grasp_latest.jpg

If grasping is inaccurate, check:

  1. Whether the raw image clearly shows the target.
  2. Whether the annotated detection box is correct.
  3. Whether the refined center is near the target center.
  4. Whether the logged pixel center is reasonable.
  5. Whether mapped x/y matches the actual table position.
  6. Whether the active vision_config matches the current observation pose.

The helper and main launch use different image-saving defaults; see testing. Published evidence is under artifacts/, not /tmp.

The detailed original troubleshooting and WSL instructions are preserved in 中文历史记录; the original English Common Issues remain pinned to their source revision.