Hi
I have a project that works under linuxcnc, and due to the
ROS capability of machinekit am trying to get it set up with
the latter. It is a 6DOF robot arm being run by STMBL drives.
These are driven by Mesa 7i74 motion control card through a
7i92m I/O Anything card. Firmware was installed and working
with linuxcnc. On Debian wheezy it ran with kernel
3.4-9-rtai-686-pae.
Under MK I am able to ping the card from the host PC, which
is an old Intel Core 2 Duo E7400 based machine.
My starting point with machinekit was to build from source,
but I switched to binary install as I was unable to get any
flavor working. If details on the separate set of issues
encountered there are helpful, I will post those. For now for
the sake of clarity here are there errors encountered with the
binary install. The behaviour is induced by running MK
from menu or terminal and selecting my project from the gui.
From linuxcnc.log:
Jan 3 14:36:44 home msgd:0: startup pid=10774 flavor=rt-preempt rtlevel=1 usrlevel=1 halsize=524288 shm=Posix cc=gcc 4.9.2 version=v0.1~-detached~57e93bf
Jan 3 14:36:44 home msgd:0: ØMQ=4.0.5 czmq=4.0.2 protobuf=2.6.1 atomics=gcc intrinsics libwebsockets=<no version symbol>
Jan 3 14:36:44 home msgd:0: configured: sha=57e93bf
Jan 3 14:36:44 home msgd:0: built: Jan 2 2019 16:19:23 sha=57e93bf
Jan 3 14:36:44 home msgd:0: register_stuff: actual hostname as announced by avahi='home.local'
Jan 3 14:36:44 home msgd:0: zeroconf: registering: 'Log service on home.local pid 10774'
Jan 3 14:36:44 home rtapi:0: rtapi_app_main(motmod): -1 Operation not permitted
Jan 3 14:36:45 home msgd:0: zeroconf: registered 'Log service on home.local pid 10774' _machinekit._tcp 0 TXT "uuid=a42c8c6b-4025-4f83-ba28-dad21114744a" "instance=fe02fdf2-0f64-11e9-9c5a-0023ae8fd383" "service=log" "dsn=ipc://
/tmp/0.log.a42c8c6b-4025-4f83-ba28-dad21114744a"
Jan 3 14:36:47 home rtapi:0: unload: 'genserkins' not loaded
Jan 3 14:36:47 home msgd:0: rtapi_app exit detected - scheduled shutdown
Jan 3 14:36:49 home msgd:0: msgd shutting down
Jan 3 14:36:49 home msgd:0: zeroconf: unregistering 'Log service on home.local pid 10774'
Jan 3 14:36:49 home msgd:0: log buffer hwm: 0% (0 msgs, 0 bytes out of 524288)
Jan 3 14:36:49 home msgd:0: normal shutdown - global segment detached
machine-user@home:~$ machinekit
MACHINEKIT - 0.1
Machine configuration directory is '/home/machine-user/machinekit/configs/rx60'
Machine configuration file is 'rx60.ini'
Starting Machinekit...
rtapi_msgd command: /usr/libexec/linuxcnc/rtapi_msgd --instance=0 --rtmsglevel=1 --usrmsglevel=1 --halsize=524288
rtapi_app command: /usr/libexec/linuxcnc/rtapi_app_rt-preempt --instance=0
io started
halcmd loadusr io started
hm2-stepper.hal:5: insmod failed, returned -1:
rtapi_app_main(motmod): -1 Operation not permitted
RUN_IN_PLACE=no
LINUXCNC_DIR=
LINUXCNC_BIN_DIR=/usr/bin
LINUXCNC_TCL_DIR=/usr/lib/tcltk/linuxcnc
LINUXCNC_SCRIPT_DIR=
LINUXCNC_RTLIB_DIR=/usr/lib/linuxcnc
LINUXCNC_CONFIG_DIR=
LINUXCNC_LANG_DIR=/usr/share/linuxcnc/tcl/msgs
INIVAR=/usr/libexec/linuxcnc/inivar
HALCMD=halcmd
LINUXCNC_EMCSH=/usr/bin/wish8.6
INIFILE=/home/machine-user/machinekit/configs/rx60/rx60.ini
PARAMETER_FILE=hm2-stepper.var
TASK=milltask
HALUI=
DISPLAY=axis
Starting Machinekit server program: linuxcncsvr
Loading Real Time OS, RTAPI, and HAL_LIB modules
Starting Machinekit IO program: io
Killing task linuxcncsvr, PID=14341
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments
Relevant entries from my hal file
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]TRAJ_PERIOD num_joints=[KINS]JOINTS
# hostmot2 driver
loadrt hostmot2
# load low-level driver
loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)
# load wrist.comp
#loadrt wrist
# load estop latch component
loadrt estop_latch
loadrt not
# ################################################
# THREADS
# ################################################
addf hm2_[HOSTMOT2](BOARD).0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
#
addf hm2_[HOSTMOT2](BOARD).0.write servo-thread
addf estop-latch.0 servo-thread
addf not.0 servo-thread
Dmesg shows no entries relating
to this (checked by clearing dmesg and starting again).
Linuxcnc_debug.txt does not contain
anything apart from default text.
I have a feeling this is all kernel related, however is
needed for binary installs, and if so which directory
should it be run in? If not needed, can anyone suggest how to
proceed here please?
