xs_sdk error when running xslocobot_ros_control.launch

[Piskoooh]

Hi team.

I 'm trying to run roslaunch interbotix_xslocobot_ros_control xslocobot_ros_control.launch robotmodel:=locobot_wx200 dof:=5.
I want some advice to solve the error shown belllow.

[ERROR] [1689970043.099397518]: [xs_sdk] Motor Config file was not found or has a bad format. Shutting down...
[ERROR] [1689970043.104852529]: [xs_sdk] YAML Error: 'bad file'
[FATAL] [1689970043.104907687]: [xs_sdk] For troubleshooting, please see 'https://docs.trossenrobotics.com/interbotix_xsarms_docs/troubleshooting.html'
[locobot/xs_sdk-4] process has died [pid 6310, exit code -11, cmd /home/locobotwsd/interbotix_ws/devel/lib/interbotix_xs_sdk/xs_sdk __name:=xs_sdk __log:=/home/locobotwsd/.ros/log/33caaa9c-2802-11ee-8177-419be3506440/locobot-xs_sdk-4.log].
log file: /home/locobotwsd/.ros/log/33caaa9c-2802-11ee-8177-419be3506440/locobot-xs_sdk-4*.log

I tried to check the log file but does not exist in the directory shown in terminal.
Also, I have no idea which yaml file are loaded in this project.
Thus, i'm stuck.

I also tried other launch file such as xslocobot_nav.launch.
In this case, it's works well.

[lukeschmitt-tr]

If the command you state is what you are actually entering into your terminal, you would indeed get the error you're seeing. robotmodel is not a launch argument — try using robot_model instead like below:

roslaunch interbotix_xslocobot_ros_control xslocobot_ros_control.launch robot_model:=locobot_wx200 dof:=5

The reason this is happening is because the robot_model dictates what motor config file should be loaded. If left blank, it will try to load a file with an empty filename which does not exist.

[Piskoooh]

Thanks for quick response!!
I'm sorry that the command I wrote above was miss typing.
I correctly typed robot_model in the terminal.
Is there any other possible improvements?

info about my locobot

• model: locobot wx200 with create3
• Ros version: noetic

[lukeschmitt-tr]

Check that the locobot_wx200.yaml motor config file still exists and that it is properly formatted (checking that no changes have been made to it is sufficient).

[Piskoooh]

sorry for late reply. After checking the locobot_wx200.yaml exist and correct, I checked xslocobot_ros_control.launch and found that the default argument and the file name which exist in config are incorrect. I changed the default argument shown in the figure.

After this, its works well. Thanks for your help!