Quick debug

Something is not working: how to debug it.

Check the service status

If you are using one of the system.d service only:

Open a terminal on the computer, and enter:

sudo systemctl status <name_of_the_service>.service

Note: Default running service is reachy_sdk_server.service.

An error may be indicated in the terminal.

Check ROS topics

Open a terminal on the computer, and enter:

ros2 topic list

If all services are launched, you should see the following list:

Full/Starter kit topic list:

/fan_states
/force_sensors
/joint_goals
/joint_states
/joint_temperatures
/left_image
/parameters_events
/right_image
/robot_description
/rosout
/tf
/tf_static

Arm kit topic list:

/fan_states
/force_sensors
/joint_goals
/joint_states
/joint_temperatures
/parameters_events
/robot_description
/rosout
/tf
/tf_static

Check the topics are correctly updated

Open a terminal on the computer, and enter:

ros2 topic echo <topic_name>

Check the topic is updated: it should print new logs at given frequencies.

Note: the list of topics names is available using ros2 topic list

Check ROS logs

Everytime you use ROS nodes, the logs are saved. In ~/.ros/log, you can find the files containing all logs of your sessions.

You can see if you got an error with one of your ROS nodes.

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