Error Codes Reference

This document provides a reference for error codes and messages that may appear in the RCR Common Robotics Platform.

ROS2 Error Codes

Node Errors

Node Not Found

  • Code: NODE_NOT_FOUND

  • Cause: Node not running or not found

  • Solution: Check if node is launched, verify node name

Node Already Running

  • Code: NODE_ALREADY_RUNNING

  • Cause: Multiple instances of same node

  • Solution: Kill existing node, restart system

Topic Errors

Topic Not Found

  • Code: TOPIC_NOT_FOUND

  • Cause: Topic not published or wrong name

  • Solution: Check topic list, verify publisher

Topic Connection Failed

  • Code: TOPIC_CONNECTION_FAILED

  • Cause: Network or communication issue

  • Solution: Check network, restart nodes

Service Errors

Service Not Available

  • Code: SERVICE_NOT_AVAILABLE

  • Cause: Service not running or not found

  • Solution: Check service list, verify service name

Service Call Failed

  • Code: SERVICE_CALL_FAILED

  • Cause: Service error or timeout

  • Solution: Check service logs, verify parameters

Hardware Error Codes

Power System Errors

Low Battery

  • Code: LOW_BATTERY

  • Cause: Battery voltage below threshold

  • Solution: Charge battery, check battery health

Power Supply Failure

  • Code: POWER_SUPPLY_FAILURE

  • Cause: Power supply malfunction

  • Solution: Check power connections, replace supply

Overcurrent Protection

  • Code: OVERCURRENT_PROTECTION

  • Cause: Current draw too high

  • Solution: Check for shorts, reduce load

Motor System Errors

Motor Driver Error

  • Code: MOTOR_DRIVER_ERROR

  • Cause: Motor driver malfunction

  • Solution: Check driver connections, replace driver

Encoder Error

  • Code: ENCODER_ERROR

  • Cause: Encoder malfunction or disconnection

  • Solution: Check encoder wiring, replace encoder

Motor Overload

  • Code: MOTOR_OVERLOAD

  • Cause: Motor current too high

  • Solution: Reduce load, check for binding

Sensor Errors

LiDAR Error

  • Code: LIDAR_ERROR

  • Cause: LiDAR malfunction or disconnection

  • Solution: Check USB connection, restart LiDAR

Camera Error

  • Code: CAMERA_ERROR

  • Cause: Camera malfunction or disconnection

  • Solution: Check USB connection, restart camera

IMU Error

  • Code: IMU_ERROR

  • Cause: IMU malfunction or disconnection

  • Solution: Check I2C connection, restart IMU

System Error Codes

Communication Errors

Serial Communication Error

  • Code: SERIAL_COMM_ERROR

  • Cause: Serial port communication failure

  • Solution: Check serial connection, restart device

USB Communication Error

  • Code: USB_COMM_ERROR

  • Cause: USB communication failure

  • Solution: Check USB connection, restart device

Network Communication Error

  • Code: NETWORK_COMM_ERROR

  • Cause: Network communication failure

  • Solution: Check network connection, restart network

File System Errors

File Not Found

  • Code: FILE_NOT_FOUND

  • Cause: Required file missing

  • Solution: Check file path, restore file

Permission Denied

  • Code: PERMISSION_DENIED

  • Cause: Insufficient permissions

  • Solution: Check file permissions, use sudo if needed

Disk Space Full

  • Code: DISK_SPACE_FULL

  • Cause: Insufficient disk space

  • Solution: Free up disk space, clean logs

Error Handling

Error Logging

System Logs

# Check system logs
journalctl -u ros2
journalctl -u robot

# Check ROS2 logs
ros2 log list
ros2 log show

Application Logs

# Check application logs
tail -f /var/log/robot.log
tail -f ~/.ros/log/latest/robot.log

Error Recovery

Automatic Recovery

  • System attempts automatic recovery

  • Restart failed components

  • Fallback to safe mode

Manual Recovery

  • Follow recovery procedures

  • Restart system components

  • Check error logs

Error Prevention

Regular Maintenance

  • Perform regular maintenance

  • Monitor system health

  • Update software regularly

Monitoring

  • Monitor system performance

  • Check for early warning signs

  • Implement health checks

Diagnostic Tools

System Diagnostics

# Check system resources
htop
df -h
free -h

# Check network
ip addr show
ping google.com

# Check USB devices
lsusb
ls /dev/tty*

ROS2 Diagnostics

# Check ROS2 status
ros2 node list
ros2 topic list
ros2 service list

# Monitor topics
ros2 topic hz /${ROS_NAME}/topic_name
ros2 topic echo /${ROS_NAME}/topic_name

Hardware Diagnostics

# Check I2C devices
i2cdetect -y 1

# Check serial devices
ls /dev/tty*

# Check power
cat /sys/class/power_supply/BAT0/voltage_now

Error Reporting

Reporting Errors

When reporting errors, include:

  1. Error Code: Specific error code

  2. Error Message: Full error message

  3. Context: What was happening when error occurred

  4. System State: Current system state

  5. Logs: Relevant log entries

  6. Steps to Reproduce: How to reproduce the error

Error Tracking

  • Document all errors

  • Track error frequency

  • Monitor error trends

  • Update error codes as needed

For common issues, see Common Issues For recovery procedures, see Recovery Procedures For troubleshooting, see Troubleshooting