My team is currently using the new VESC hardware at UC San Diego for autonomous vehicles. We're collecting training data by driving around a track with donkeysim, and we've been running into this issue when attempting to make turns from time to time. This is the error that comes up when the donkeycar software crashes.
File "/home/jetson/projects/envs/donkey/lib/python3.6/site-packages/pyvesc/VESC/VESC.py", line 117, in set_servo
self.write(encode(SetServoPosition(new_servo_pos)))
File "/home/jetson/projects/envs/donkey/lib/python3.6/site-packages/pyvesc/VESC/VESC.py", line 87, in write
self.serial_port.write(data)
File "/home/jetson/projects/envs/donkey/lib/python3.6/site-packages/serial/serialposix.py", line 655, in write
raise SerialException('write failed: {}'.format(e))
serial.serialutil.SerialException: write failed: [Errno 5] Input/output error
INFO:donkeycar.vehicle:Shutting down vehicle and its parts...
Exception in thread Thread-4:
Traceback (most recent call last):
File "/home/jetson/projects/envs/donkey/lib/python3.6/site-packages/serial/serialposix.py", line 621, in write
n = os.write(self.fd, d)
OSError: [Errno 5] Input/output error
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/usr/lib/python3.6/threading.py", line 916, in _bootstrap_inner
self.run()
File "/usr/lib/python3.6/threading.py", line 864, in run
self._target(*self._args, **self._kwargs)
File "/home/jetson/projects/envs/donkey/lib/python3.6/site-packages/pyvesc/VESC/VESC.py", line 62, in _heartbeat_cmd_func
self.write(alive_msg)
File "/home/jetson/projects/envs/donkey/lib/python3.6/site-packages/pyvesc/VESC/VESC.py", line 87, in write
self.serial_port.write(data)
File "/home/jetson/projects/envs/donkey/lib/python3.6/site-packages/serial/serialposix.py", line 655, in write
raise SerialException('write failed: {}'.format(e))
serial.serialutil.SerialException: write failed: [Errno 5] Input/output error