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Resolved Resolved by ptp!

EZ-Builderpi / Ezbpi On Raspberry Pi 3 Errors


I am trying to run EZ-BuilderPi and EZBPi on a Raspberry Pi 3. I have tried installing them on two different versions of Raspbian, the latest release and the 11/13/18 (stretch) version, which was released closer to "DJ's 9th Live Hack" (I have been following that YouTube tutorial). When I execute EZ-BuilderPi, I get the following error before EZ-Builder launches:


pi@raspberrypi:~/EZ-BuilderPi $ mono EZ-Builder.exe
Unknown heap type: #GUlD

Unknown heap type: #Blop

Unknown heap type: #GUlD

Unknown heap type: #Blop

The help viewer could not load. Maybe you don't have chmsee installed or haven't set MONO_HELP_VIEWER. The specific error message was: ApplicationName='chmsee', CommandLine='"https://synthiam.com/Software"', CurrentDirectory='', Native error= Cannot find the specified file
X11 Error encountered:
Error: BadMatch (invalid parameter attributes)
Request: 12 (0)
Resource ID: 0x1C013B8
Serial: 48245
Hwnd: Hwnd, Mapped:True ClientWindow:0x1C013B9, WholeWindow:0x1C013B8, Zombie=False, Parent:[Hwnd, Mapped:True ClientWindow:0x1C013B7, WholeWindow:0x1C013B6, Zombie=False, Parent:[]]
Control: System.Windows.Forms.Panel, BorderStyle: None at System.Environment.get_StackTrace () [0x00000] in <8f2c484307284b51944a1a13a14c0266>:0
at System.Windows.Forms.XplatUIX11.HandleError (System.IntPtr display, System.Windows.Forms.XErrorEvent& error_event) [0x00000] in :0
at System.Drawing.GDIPlus.GdipCreateFromXDrawable_linux (System.IntPtr , System.IntPtr , System.IntPtr& ) [0x00000] in <1917aa1c39d94b1a91807b8cd9f03350>:0
at System.Drawing.Graphics.FromXDrawable (System.IntPtr drawable, System.IntPtr display) [0x00000] in <1917aa1c39d94b1a91807b8cd9f03350>:0
at System.Drawing.Graphics.FromHwnd (System.IntPtr hwnd) [0x00000] in <1917aa1c39d94b1a91807b8cd9f03350>:0
at System.Windows.Forms.Control.CreateGraphics () [0x00000] in :0
at System.Windows.Forms.TextBoxBase.CreateGraphicsInternal () [0x00000] in :0
at System.Windows.Forms.Document.owner_VisibleChanged (System.Object sender, System.EventArgs e) [0x00000] in :0
at System.Windows.Forms.Control.OnVisibleChanged (System.EventArgs e) [0x00000] in :0
at System.Windows.Forms.Control.OnParentVisibleChanged (System.EventArgs e) [0x00000] in :0

Once EZ-Builder launches, if I try to open a previously saved project, a window pops up with a similar message:


Version: 2019.05.08.00

System.IO.DirectoryNotFoundException: Directory 'EZ-Builder/Examples' not found.
at System.IO.Directory.ValidateDirectoryListing (System.String path, System.String searchPattern, System.Boolean& stop) [0x00091] in <8f2c484307284b51944a1a13a14c0266>:0
at System.IO.Directory.GetFileSystemEntries (System.String path, System.String searchPattern, System.IO.FileAttributes mask, System.IO.FileAttributes attrs) [0x00023] in <8f2c484307284b51944a1a13a14c0266>:0
at System.IO.Directory.GetDirectories (System.String path, System.String searchPattern) [0x00000] in <8f2c484307284b51944a1a13a14c0266>:0
at System.IO.Directory.GetDirectories (System.String path) [0x00000] in <8f2c484307284b51944a1a13a14c0266>:0
at EZ_Builder.FormOpenEZB.XtZsj07xQ5 () [0x0000b] in <8a9b654daa5e46dc9cae530155c2d0ff>:0
at EZ_Builder.FormOpenEZB..ctor (System.String folder) [0x0002d] in <8a9b654daa5e46dc9cae530155c2d0ff>:0
at (wrapper remoting-invoke-with-check) EZ_Builder.FormOpenEZB:.ctor (string)
at EZ_Builder.FormMain.MenuClick_Open (System.Object sender, System.EventArgs e) [0x00027] in <8a9b654daa5e46dc9cae530155c2d0ff>:0
at (wrapper delegate-invoke) :invoke_void_object_EventArgs (object,System.EventArgs)
at System.Windows.Forms.RibbonItem.OnClick (System.EventArgs e) [0x00042] in <8137470ea8f14440974ce9168ccc636e>:0
at System.Windows.Forms.RibbonButton.OnClick (System.EventArgs e) [0x0003f] in <8137470ea8f14440974ce9168ccc636e>:0
at System.Windows.Forms.RibbonMouseSensor.Control_MouseClick (System.Object sender, System.Windows.Forms.MouseEventArgs e) [0x00041] in <8137470ea8f14440974ce9168ccc636e>:0
at System.Windows.Forms.Control.OnMouseClick (System.Windows.Forms.MouseEventArgs e) [0x0001c] in :0
at System.Windows.Forms.Control.HandleClick (System.Int32 clicks, System.Windows.Forms.MouseEventArgs me) [0x0005d] in :0
at System.Windows.Forms.Control.WmLButtonUp (System.Windows.Forms.Message& m) [0x00071] in :0
at System.Windows.Forms.Control.WndProc (System.Windows.Forms.Message& m) [0x0016f] in :0
at System.Windows.Forms.Ribbon.WndProc (System.Windows.Forms.Message& m) [0x00191] in <8137470ea8f14440974ce9168ccc636e>:0
at System.Windows.Forms.Control+ControlWindowTarget.OnMessage (System.Windows.Forms.Message& m) [0x00000] in :0
at System.Windows.Forms.Control+ControlNativeWindow.WndProc (System.Windows.Forms.Message& m) [0x0000b] in :0
at System.Windows.Forms.NativeWindow.WndProc (System.IntPtr hWnd, System.Windows.Forms.Msg msg, System.IntPtr wParam, System.IntPtr lParam) [0x0008e] in :0
I searched Synthiam Community for a similar thread, so forgive me if this issue has been addressed in a previous post and I missed it. I am happy to answer any questions. Does anyone know what I could have done wrong during the installation?


Related Hardware Raspberry Pi
Oh, but that's cool too right?:)

Seems like there are already a lot of people interested in your robot!!
EZ-Builder has a nice, and easy to use GUI...so it should get a lot easier for anyone to get started with MAKI!!

I experienced that EZ-Builder is a bit slow when running on the Raspberry Pi, but I also only tried it on the 3B...
The new Pi should have more than enough juice to run the software I guess!:)
Thanks to everyone who commented on this thread, your input was very useful. Special thanks to ptp who helped me offline solve this issue. I can now run EZBPi on my Raspberry Pi 3 B+ as well as control Dynamixel servos (XL430's) using the Dynamixel plugin (EZ-Builder is running on my Windows laptop). This is thanks to ptp's version of EZBPi server, EZB Server (BlueBerry Server)

In addition to the Raspberry Pi 3 B+, I am also using an OpenCM9.04 connected to the Pi via USB. The XL430 servos have a default baud rate of 1 Mbps, so I made sure that the DXL baud rate was also set to 1 Mbps on the OpenCM9.04. I am powering the OpenCM9.04 board directly from a 12v power supply. If you are using an OpenCM 485 Expansion Board, be sure to change the channel to 1, otherwise leave it set to the default which is 0. 

To install EZB Server (BlueBerry Server), follow ptp's setup instructions; in addition, you will also have to follow these instructions (also provided by ptp) if you are using an OpenCM9.04:

1) Install opencm usb port settings :
source: http://emanual.robotis.com/docs/en/parts/controller/opencm904/

run those 4 lines:


wget https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCM9.04/master/99-opencm-cdc.rules
sudo cp ./99-opencm-cdc.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules
sudo udevadm trigger
after connecting the opencm you can confirm is available:


ls /dev/ttyA*

you should see the serial device: /dev/ttyACM0

3) Update your Blueberry repository


cd ~/BlueberryServer (or whatever location)
git pull

the last command updates your local repository

4) Start the BlueberryServer:

4.1 help with the options:


python3 Main.py --help

4.2 use opencm as serial EZ-Builder uart0 :


python3 Main.py --uart0=/dev/ttyACM0

4.3. use opencm and picamera


python3 Main.py --uart0=/dev/ttyACM0  --camtype=picamera

*Other notes:

When using XL430 servos, in the Dynamixel plugin settings, set the baud rate to 1000000 (unless you have changed the default setting) and use UART Port #0. When moving the servos to different positions, the movement was very "jerky" until I increased the number of Steps. 

This is a great first step and I am happy that I am able to run EZBPi server on a Raspberry Pi, but ultimately I would like to run EZ-Builder on the Pi as well. I will update this post once I am able to run EZ-Builder on the Pi with this version of EZB Server. Once I get "most" of the bugs worked out, I will also let you know when the STL files will be available for download (if you are interested in building your own MAKI):) I need to solve the interpolation issue which I am experiencing. Right now I am not able to slow the movements of the servos. I will try playing with the Delay/Step settings more, as well as changing the Global Max servo Positions from 180 to 4095...

*Please let me know if anyone has any input on this issue.

There is also just a bit of delay in the RPI camera feed. I am hoping that once I am able to run both EZB Server and EZ-Builder on the same Pi, that delay will be reduced. 

Thanks again everyone:D
Nice update...good to see you are making progress on setting up your robot!!:)
I’m watching this. Haven’t come across any trouble with EZ-Builder I’m the pi yet to reproduce... 

As for smoothness of servos, you don’t have to use 4095, it can be 1024 or even 512, which increase the resolution significantly 

the servo speed, steps and delay will help quite a bit. Once you experiment with the values and their affect, it’ll make a lot of sense
#106   — Edited
@DJSures are there any legal issues with making an image of Raspian or another Linux distro with EZ-Builder, which is ready to use, available for download?
Or is it just to early to do so because there are still a lot of changes at this time of development?
I’d have to research that answer. Let me know if you come across something. 

the only time I’ve had someone reach out directly with a raspberry pi EZ-Builder issue was because they were trying to load EZ-Builder from text mode. They forgot to load the xwindows GUI first.