Troubleshooting

Introduction

If you're experiencing difficulties with your Origin One, please consult this section list of known issues and the proposed mitigation before contacting Avular.

In case the problem you're experiencing is not listed here, or if simply not able to resolve it, please do not hesitate to contact Avular.

Troubleshooting

Connecting to the Origin One

Origin One Platform

Origin One remains of E-stop state when all emergency stop buttons are disengaged

Are all emergency stop buttons disengaged and does your Origin One status lights still show emergency stop active and display showing the following image?

Then the Origin One can be experiencing a known issue its state machine which it cannot resolve by itself.

How to resolve:

Simply reboot the Origin One to resolve this issue.

Origin One moves without providing input

Is your Origin moving without any velocity inputs provided whenever the emergency stops are disengaged? This can be caused by two different causes. Please check the following suggestions.

1. Origin One was moved during the powering on of the system.

   During the initializing phase of the power on sequence of the Origin One, the robot should not be moved. Otherwise the odometry sensors get initialized and calibrated with a nonzero value. This can result in the Origin One moving without providing control commands (i.e. remote controller joystick movement).

   How to resolve:

   Simply reboot the Origin One and keep it stationary until the startup sequence is complete.

2. Remote controller (PS4) is experiencing stick drift.

   A known issue of the DualShock 4 (PlayStation 4) controller is that it can experience stick drift over time. This phenomenon is experienced when the remote controller sends out control commands without actuating any of the two joysticks. To check if this is the actually the case, the user can check if there are commands sends to the Origin over the /robot/joy topic. To analyze this joy message, you need to establish a ROS2 connection with the Origin One or create an SSH connection with the robot and enter a user container. Once inside the ROS2 network, use the following command to assess the joy messages.

   ros2 topic echo /robot/joy
   

   Now let's analyze the message content without touching the remote controller joysticks. If the messages shown in the terminal contain values different then the following code-snippet, then the controller is experiencing stick drift

   axes:
   - -0.0
   - -0.0
   - 1.0
   - -0.0
   - -0.0
   - 1.0
   - 0.0
   - 0.0
   

   How to resolve: There are a few ways to troubleshoot this issue. Please consult the following link to get started with this. If steps 1-4 do not resolve the problem, please contact Avular. Do not proceed with replacing analog sticks before consulting Avular.