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(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Operation on QNX

Description: Daily operation of Hironxo's Controller Box (that runs on QNX real-time OS)

Keywords: Hiro, NEXTAGE OPEN, QNX, controller

Tutorial Level: ADVANCED

Next Tutorial: rtmros_nextage/Tutorials/Changing Nextage Grippers in Robot Model

NOTE: All the tutorials available under the URL http://wiki.ros.org/rtmros_nextage/Tutorials are applicable to the multiple products of Kawada Industries; Hiro (only with the one that opensource software is installed) and NEXTAGE OPEN. To simplify the notation in the rest of the tutorials, we use HiroNXO to appoint the aforementioned robots.

Introduction

All of HiroNXO software is publicly available, which doesn't mean that you can just download and run it on your HiroNXO out of the box. You need to build/compile it on the robot's controller host ControllerBox that runs on QNX operating system. And to compile on QNX you need a developer license which you can purchase from the vendor of your region.

How to install necessary software on QNX is not disclosed either. Other than the developer's license issue, QNX is a commercial software that you're required/advised to be certified for operation, or at minimum should be familliar enough with it. Also due to the lack of robust packaging infrastructure (like ROS has) on QNX, installation work can involve a long list of manual tasks and thus is very error prone.

However, for the cases as below touching inside of QNX is required:

In these cases you can obtain the logon account info from either manufacturer or the software service provider.

In this page you'll find minimum things that you may find useful about setting on QNX on Hiro/NEXTAGE OPEN.

We assume that you can log on to QNX by:

YOURHOST$ ssh -l %QNX_YOUR_USER% %IPADDR_YOUR_QNX%

Daily Operation

NOTE: Need for a GUI tool to operate everyday task is noticed. Work is in progress.

Shutdown QNX

Reboot QNX

The following command only works on NXO (ref).

QNX$ su -c '/bin/shutdown'

QNX Specific Troubleshooting

Before you move on to scroll down this page, you're advised to go through the troubleshooting for Hironx / NEXTAGE OPEN page to review general ways of shooting issues or getting support.

Although we hope you found solution/workaround there, sometimes you might need to look into logs deep in the robot. Here are some ways to troubleshoot issues on your Hiro/NEXTAGE OPEN that might be rooted in software on QNX.

Log Files

Type of Available Log Files

In /opt/jsk/var/log, you'll find a few types of log files:

Copy of each of above file is generated automatically in the same folder.

Operation with Logs

These log files above are generated automatically, and won't get removed automatically at the time of writing (3/18/2014). Also, currently there's no way to look into log files remotely other than logging in on to QNX (via ssh).

Need to retrieve logs for debug

Often while debugging you need controller's log that is only available in the log files on QNX. You can get them by either one of the following. Note that you need login info.

Maintain logs regularly

Log files by themselves can easily take up gigabytes of the disk space. It is advised that you occasionally remove log files under /opt/jsk/var/log either manually or by custom script, since no mechanism to delete any log files. To do so, you can either use the same script qnx_fetch_log.sh or log on to QNX and remove manually.

To Rollback to Closed-source Grx Controller

(This section will be filled per request basis. See Contribution section.)

Contribution

Hint to check server status

Since currently there's not much tools for you to remotely measure the status of processes inside of QNX on HiroNXO, you need to log in and check certain log files or processes. Below is the list of phenomenons each of which section describes what you need to check.

All 4 chest lamps on the robot are still blinking after powering it up

You want to see only white and green blink.


2019-10-12 13:06