raw3 3 canopen #661

fmessmer · 2017-04-26T14:06:06Z

this PR migrates raw3-3 base to ros_canopen
see #422

thanks @ipa-jba and @ipa-mdl for doing this!

fmessmer · 2017-04-26T14:19:05Z

@destogl @andreeatulbure
this might be of interest for you as we made some consistency changes within the (raw3-common) raw3_base_driver.yaml file which is also used on your raw3-5
Could you quickly test this branch and let us know whether it works for you? Thanks

fmessmer · 2017-04-26T15:29:14Z

we need to make the steer_ctrl parameters of the cob_omni_drive_controller/WheelController robot-specifc:
for raw3-3 they previously have been set to

    steer_ctrl: # Parameters for tuning Impedance-Controller
      spring: 15.0 #10.0
      damp: 2.75 #2.5
      virt_mass: 0.1 #0.1
      d_phi_max: 12.0 #100.0
      dd_phi_max: 40.0 #100.0

but in raw3_base_controller.yaml they are now:

     steer_ctrl: # Parameters for tuning Impedance-Controller
       spring: 9.5
       damp: 2.25
       virt_mass: 0.1 
       d_phi_max: 12.0 #100.0
       dd_phi_max: 40.0 #100.0

mathias-luedtke · 2017-04-26T15:37:13Z

Three options:

try to make them the same
Split config (upload additional params in raw3_base.launch)
separate config (with controller_yaml arg)

fmessmer · 2017-04-26T16:02:10Z

@ipa-jba will post a few comments about the steps to-be-done to setup the pcan driver in #422

jabbenseth · 2017-04-27T07:08:53Z

see #422 (comment)

fmessmer · 2017-04-27T07:54:41Z

@ipa-jba
I added another commit that should handle the control parameter missmatch between raw3-3 and raw3-5
please retest

@ipa-mdl
I opted for this approach as I did not want to add base_controller.yaml files back to all the other robots which seem to work fine with the default values...
What do you think?

fmessmer · 2017-04-27T08:28:29Z

The parameter handling did not fully solve the oscillation....we'll do an evaluation analogue to https://github.com/ipa320/cob_control/issues/143

jabbenseth · 2017-04-27T12:51:25Z

Right now the base starts to oscillate on the drive wheels. See the attached screenshot (shown is a rotation, where oscillation is more visible, but not exclusive)

This is only reproducible if the base is on the floor (not hanging)

fmessmer · 2017-04-27T13:40:43Z

according to @ipa-tif this is due to hitting an resonance frequency with the drive wheels working against the springs. a similar behavior has been observed on cob4 with loosely tuned elmo controllers

thus, it is not an issue of ros_canopen and/or configuration but an issue of the internal elmo controller configuration.

next step would be to investigate to what extend the elmo controllers can be tuned
the old elmo configuration laptop is put on raw3-3 - and either @ipa-tif or @ipa-bdw are able to check this

fmessmer · 2017-04-27T13:47:35Z

Another issue was with emergency stop being triggered which required modifications in ros_canopen see ros-industrial/ros_canopen#234

…ing and `UM=2`)

fmessmer · 2017-05-06T12:19:33Z

@ipa-mdl ready for final review
@ipa-jba @ipa-mig ready for final test
(note: this branch is rebased...use git checkout -B raw3-3_canopen origin-fxm/raw3-3_canopen)

I'll merge once I get your approvals

mathias-luedtke · 2017-05-08T11:42:49Z

cob_bringup/drivers/canopen_402.launch


 	<!-- start external sync node if requested -->
 	<node ns="$(arg component_name)" pkg="canopen_chain_node" type="canopen_sync_node" name="sync_$(arg can_device)" output="screen" if="$(arg start_external_sync)">
 		<rosparam subst_value="True">{bus: { device: $(arg can_device) }, sync: { interval_ms: $(arg interval_ms), overflow: $(arg overflow) } }</rosparam>
+		<param name="reset_errors_before_recover" value="$(arg reset_errors_before_recover)"/>


this does not belong here

mathias-luedtke · 2017-05-08T11:44:46Z

cob_bringup/components/ros_control_base.launch


 	<arg name="component_name" value="base"/>
 	<arg name="interval_ms" value="20"/>
 	<arg name="use_external_sync" value="false"/>
 	<arg name="start_external_sync" value="false"/>

+	<rosparam unless="$(arg sim)" ns="$(arg component_name)/driver" command="load" file="$(arg driver_yaml)"/>


This is the right place, I don't know why it was below beforehand.
It might break other robots with outdated configs..

mathias-luedtke · 2017-05-08T11:45:45Z

cob_bringup/robots/raw3-3.xml

-			<arg name="robot" value="$(arg robot)"/>
+		<include file="$(find cob_bringup)/components/raw3_base.launch" >
+			<arg name="robot" value="$(arg robot)" />
+			<arg name="can_device" value="can0" />


can0 is the default

but the argument is required...

mathias-luedtke · 2017-05-08T11:48:13Z

cob_bringup/robots/raw3-5.xml

@@ -60,6 +60,8 @@
 			<arg name="can_device" value="can1" />
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
+		<!-- overwrite control parameters with non-default values -->
+		<rosparam ns="base/driver" command="load" file="$(find cob_hardware_config)/robots/$(arg robot)/config/base_controller.yaml"/>


This looks wrong, controller config should go into base namespace

mathias-luedtke · 2017-05-08T11:50:42Z

cob_hardware_config/robots/raw3-5/config/base_controller.yaml

+    steer_ctrl: # Parameters for tuning Impedance-Controller
+      spring: 9.5
+      damp: 2.25
+      virt_mass: 0.1 


the last three could be omited, since the are same as in the default config

let's keep the parameters together...

fmessmer · 2017-05-08T13:45:57Z

I considered @ipa-mdl's comments and tested this branch (including ros-industrial/ros_canopen#234) onc cob4-9...works as expected

I will do a final test with @ipa-jba on raw3-3 to clarify #661 (comment)

mathias-luedtke · 2017-05-08T14:34:39Z

merged the reset feature.

fmessmer added the waffle review label Apr 26, 2017

fmessmer force-pushed the raw3-3_canopen branch from 27d2a62 to e6f4214 Compare April 26, 2017 15:00

fmessmer mentioned this pull request Apr 27, 2017

switch raws and cob3s to new canopen base driver #422

Closed

fmessmer self-assigned this Apr 28, 2017

fmessmer mentioned this pull request May 6, 2017

added reset_errors_before_recovery_parameter from ros_canopen fmessmer/cob_robots#23

Merged

fmessmer and others added 6 commits May 6, 2017 14:12

cleanup files

96dc960

canopen config for raw3-3 base

f17bc37

final cleanup

10ff311

steer_ctrl param handling

61321ad

added reset_errors_before_recovery_parameter from ros_canopen

a6458f2

invert right wheels and change ordering of config (needed after retun…

aae91c3

…ing and `UM=2`)

fmessmer force-pushed the raw3-3_canopen branch from 96bb243 to aae91c3 Compare May 6, 2017 12:16

mathias-luedtke suggested changes May 8, 2017

View reviewed changes

finalize

3ff2c39

fmessmer force-pushed the raw3-3_canopen branch from 88fbe45 to 3ff2c39 Compare May 8, 2017 15:41

fmessmer merged commit 687b92a into ipa320:indigo_dev May 8, 2017

fmessmer removed the waffle review label May 8, 2017

fmessmer deleted the raw3-3_canopen branch November 2, 2017 12:00

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raw3 3 canopen #661

raw3 3 canopen #661

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raw3 3 canopen #661

raw3 3 canopen #661

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