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controlling motors and using multiple sensors #2

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inhok996 opened this issue Apr 18, 2016 · 6 comments
Closed

controlling motors and using multiple sensors #2

inhok996 opened this issue Apr 18, 2016 · 6 comments

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@inhok996
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inhok996 commented Apr 18, 2016 •
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Hello again!

I've tried to operate your pkgs and I have a couple of questions.

I roslaunched ultrasonic.launch, motor.launch successfully but I have a problem with using topics.

I could manage to subscribe the topic "/ultrasonic" but I don't know how to publish topic "/ev3dev/OutportA/command"

I googled for days but I still no have idea to make the motors work.

I found the type of topic "command" is "std_msg/Float64".

Q1) Does that mean I should publish just velocity of motors??? or something more than that?

Because topic "joint_states" publishes multiple values, I don't think I should publish just velocity of motors.

Please give me a hint or show me your source code of publisher node (the one used on your Youtube demo) if you are ok..

Q2) Can I launch multiple sensors??

Because I launched ultrasonic sensor and again launched color sensor and the formal one died..

I'm gonna try to modify launch files but before that, I want to ask you about it first.

Thanks a lot.

My topic lists are below

Published topics:

  • /ev3dev/joint_states [sensor_msgs/JointState] 1 publisher
  • /rosout [rosgraph_msgs/Log] 4 publishers
  • /ultrasonic [sensor_msgs/Range] 1 publisher
  • /rosout_agg [rosgraph_msgs/Log] 1 publisher

Subscribed topics:

  • /ev3dev/OutPortB/command [std_msgs/Float64] 1 subscriber
  • /ev3dev/OutPortA/command [std_msgs/Float64] 1 subscriber
  • /rosout [rosgraph_msgs/Log] 1 subscriber
@inhok996
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I tried to rostopic pub /ev3dev/OutPortA/command std_msgs/Float64 5.0 but nothing happend

@cyborg-x1
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rostopic pub /ev3dev/OutPortA/command std_msgs/Float64 "data: 5.0"
Should actually do the trick to make it turn.

@inhok996
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inhok996 commented Apr 19, 2016 •
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I tired once again. but the same.. the motor doesn't work.

I unpluged cables of motors from my ev3 brick and tried

roslaunch h4r_ev3_launch motor.launch

but no error occurred and it seemed that all controllers of the motors loaded successfully. ( when I tried to do the same thing in ultrasonic sensor, some errors occurred and I had to pluged in the cable of ultrasonic sensor to exactly "in2" / This is specified in ultrasonic.yaml )

So I wonder if the controllers work properly.

Can you check this out?..

ps) I checked motors working when I ev3_ev3dev-lang demo.

root@ev3dev:~# ev3_manager
getFilePTR opening: /sys/class/tacho-motor/motor3/position 0x66390
getFilePTR opening: /sys/class/tacho-motor/motor3/speed 0x681b8
getFilePTR opening: /sys/class/tacho-motor/motor2/position 0x68320
getFilePTR opening: /sys/class/tacho-motor/motor2/speed 0x66710

inho@ubuntu:~/catkin_ws/src/beginner_tutorials$ roslaunch h4r_ev3_launch motors.launch
... logging to /home/inho/.ros/log/07ca6d4a-05ed-11e6-9c4e-000c2944140a/roslaunch-ubuntu-6170.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:34882/

SUMMARY

PARAMETERS

  • /ev3dev/Ev3devJoints/Joint_A/mode: velocity
  • /ev3dev/Ev3devJoints/Joint_A/speed_pid: [1001, 61, 1]
  • /ev3dev/Ev3devJoints/Joint_B/mode: velocity
  • /ev3dev/Ev3devJoints/Joint_B/speed_pid: [1002, 62, 2]
  • /ev3dev/Ev3devJoints/Joint_C/mode: velocity
  • /ev3dev/Ev3devJoints/Joint_C/speed_pid: [1003, 63, 3]
  • /ev3dev/Ev3devJoints/Joint_D/mode: velocity
  • /ev3dev/Ev3devJoints/Joint_D/speed_pid: [1004, 64, 4]
  • /ev3dev/OutPortA/joint: Joint_A
  • /ev3dev/OutPortA/type: velocity_controll...
  • /ev3dev/OutPortB/joint: Joint_B
  • /ev3dev/OutPortB/type: velocity_controll...
  • /ev3dev/OutPortState/publish_rate: 10
  • /ev3dev/OutPortState/type: joint_state_contr...
  • /ev3dev/diffDrv/angular/z/has_acceleration_limits: True
  • /ev3dev/diffDrv/angular/z/has_velocity_limits: True
  • /ev3dev/diffDrv/angular/z/max_acceleration: 1.5
  • /ev3dev/diffDrv/angular/z/max_velocity: 1.7
  • /ev3dev/diffDrv/base_frame_id: base_footprint
  • /ev3dev/diffDrv/cmd_vel_timeout: 0.5
  • /ev3dev/diffDrv/left_wheel: Joint_C
  • /ev3dev/diffDrv/linear/x/has_acceleration_limits: True
  • /ev3dev/diffDrv/linear/x/has_velocity_limits: True
  • /ev3dev/diffDrv/linear/x/max_acceleration: 0.8
  • /ev3dev/diffDrv/linear/x/max_velocity: 1.0
  • /ev3dev/diffDrv/linear/x/min_acceleration: 0.2# m/s^2
  • /ev3dev/diffDrv/linear/x/min_velocity: -1.0
  • /ev3dev/diffDrv/pose_covariance_diagonal: [0.0, 0.0, 0.0, 0...
  • /ev3dev/diffDrv/publish_rate: 10.0
  • /ev3dev/diffDrv/right_wheel: Joint_D
  • /ev3dev/diffDrv/twist_covariance_diagonal: [0.0, 0.0, 0.0, 0...
  • /ev3dev/diffDrv/type: diff_drive_contro...
  • /ev3dev/diffDrv/wheel_radius: 0.15
  • /ev3dev/diffDrv/wheel_radius_multiplier: 1.0
  • /ev3dev/diffDrv/wheel_separation: 1.0
  • /ev3dev/diffDrv/wheel_separation_multiplier: 1.0
  • /ev3dev/ev3_manager_node/InPorts: ['in1', 'in2', 'i...
  • /ev3dev/ev3_manager_node/OutPorts: ['outA', 'outB', ...
  • /rosdistro: indigo
  • /rosversion: 1.11.16

NODES
/ev3dev/
controller_spawner (controller_manager/spawner)
ev3_manager_node (h4r_ev3_manager/ev3_manager_node)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[ev3dev/ev3_manager_node-1]: started with pid [6188]
process[ev3dev/controller_spawner-2]: started with pid [6189]
[INFO] [WallTime: 1461042642.402335] Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [WallTime: 1461042642.408167] Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [WallTime: 1461042642.411062] Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [WallTime: 1461042642.419903] Loading controller: OutPortState
[INFO] [WallTime: 1461042642.553937] Loading controller: OutPortA
[INFO] [WallTime: 1461042642.647706] Loading controller: OutPortB
[INFO] [WallTime: 1461042642.753752] Controller Spawner: Loaded controllers: OutPortState, OutPortA, OutPortB
[ INFO] [1461042642.763800006]: Controller Change
[ INFO] [1461042642.765381678]: velocity_controllers/JointVelocityController requests Joint OutPortA Joint_A
[ INFO] [1461042642.777606933]: <--------------EV3 Joint Joint_A---------------->
[ INFO] [1461042642.792417002]: Joint control mode: velocity
[ INFO] [1461042642.802080273]: P: 1001 I: 61 D: 1
[ INFO] [1461042642.802165909]: </-------------EV3 Joint Joint_A---------------->
[ INFO] [1461042642.802415446]: ----------------------------------------------<
[ INFO] [1461042642.802864933]: PID 1001 61 1
[ INFO] [1461042642.803315802]: velocity_controllers/JointVelocityController requests Joint OutPortB Joint_B
[ INFO] [1461042642.807096057]: <--------------EV3 Joint Joint_B---------------->
[ INFO] [1461042642.808576030]: Joint control mode: velocity
[ INFO] [1461042642.811388622]: P: 1002 I: 62 D: 2
[ INFO] [1461042642.811543573]: </-------------EV3 Joint Joint_B---------------->
[ INFO] [1461042642.811837925]: ----------------------------------------------<
[ INFO] [1461042642.812131619]: PID 1002 62 2
[INFO] [WallTime: 1461042642.847636] Started controllers: OutPortState, OutPortA, OutPortB

@inhok996
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inhok996 commented Apr 19, 2016 •
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my ev3 motors now work. I found out that motor.launch should be launched on ev3dev because the device files of motors and sensors are located in ev3dev file system and ev3_manager node only can be associated with the files in ev3dev if I'm right.

Because I "roslaunch motor.launch" in host linux(the one where I run roscore), I prevented running ev3_manager_node from motor.launch by deleting two lines about it. I use ev3_manager in yocto ev3dev instead.

@cyborg-x1
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Ah - you launched it on your PC... Well it would work if you build serial adapters for your PC and compile and install the drivers...

@inhok996
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Oh! That is good tip for me. Thank you so much.

@JDdieSonne JDdieSonne mentioned this issue Sep 19, 2016
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@dabakix8 dabakix8 mentioned this issue Feb 18, 2017
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