martinstokroos / nexus_base_ros Goto Github PK

I made a catkin-workspace on my Desktop, created a folder called src in it and put the nexus_base_ros folder in that.
Then i run catkin_make in my catkin-workspace and get this error:

CMake Error at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:305 (message):
  catkin_package() include dir 'include' does not exist relative to
  '/home/niki/Desktop/catkin/src/nexus_base_ros'
Call Stack (most recent call first):
  /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
  nexus_base_ros/CMakeLists.txt:114 (catkin_package)


-- Configuring incomplete, errors occurred!
See also "/home/niki/Desktop/catkin/build/CMakeFiles/CMakeOutput.log".
See also "/home/niki/Desktop/catkin/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

Here is the Error :

collect2: error: ld returned 1 exit status
nexus_base_ros/CMakeFiles/nexus_base_controller.dir/build.make:112: recipe for target '/home/niki/catkin/devel/lib/nexus_base_ros/nexus_base_controller' failed
make[2]: *** [/home/niki/catkin/devel/lib/nexus_base_ros/nexus_base_controller] Error 1
CMakeFiles/Makefile2:1923: recipe for target 'nexus_base_ros/CMakeFiles/nexus_base_controller.dir/all' failed
make[1]: *** [nexus_base_ros/CMakeFiles/nexus_base_controller.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

Hello, thank you for developing this repo!

I am running Noetic and having some issues compiling the Arduino code.

When following the steps I first get fatal error: nexus_base_ros/Encoders.h: No such file or directory. I tried the fix that was recommended on the master branch:

cd build/
make -j4 nexus_base_ros
cd ..
catkin_make

This still generated the same issue. I found the missing libraries in ros_catking_ws/devel/include/nexus_base_ros/

I tried to use the absolute path to this location in my Arduino sketch (I also tried to simply copy the libraries to my Arduino/libraries folder.

Now I am able to find the libraries, but instead I get the following error:

"nexus_base_ros/Encoders.h:9:10: fatal error: string: No such file or directory
#include
^~~~~~~~
compilation terminated.
exit status 1
Error compiling for board Arduino Duemilanove or Diecimila."

Thank you in advance,

BR

When i run rosrun nexus_base_ros nexus_teleop_joy (after roscore obviously) (there don't come any informations in the terminal) and the rostopic list or rosnode list the nodes and topics involved with the code on the arduino don't show of.
But when i run, separately, rosrun rosserial_python serial_node.py the connection to the arduino works. Here the terminal output:

[INFO] [1626945121.098369]: ROS Serial Python Node
[INFO] [1626945121.110281]: Connecting to /dev/ttyUSB0 at 57600 baud
[INFO] [1626945123.221470]: Requesting topics...
[INFO] [1626945123.321866]: Note: publish buffer size is 128 bytes
[INFO] [1626945123.324969]: Setup publisher on wheel_vel [nexus_base_ros/Encoders]
[INFO] [1626945123.333704]: Setup service server on emergency_stop_enable [nexus_base_ros/EmergencyStopEnable]
[INFO] [1626945123.342398]: Setup service server on arming_enable [nexus_base_ros/ArmingEnable]
[INFO] [1626945123.351809]: Note: subscribe buffer size is 128 bytes
[INFO] [1626945123.355423]: Setup subscriber on cmd_motor [nexus_base_ros/Motors]

But although all nodes are listed now, with the exception that the arduino node is called serial_node, i can't use the robot, or publish anything to the robot.

What can I do?

PS: I removed the logitech controller node in the launch file, because i don't have one and want , as for now, to control the robot by separately publishing informations from the terminal to the topics.

Hey This is a nice project. Im interested to know what is the final cmd_motor that is being passed to motor. Im using a vesc controller for motor, Is this value the motor speed(erpm) or motor current or motor PWM duty cycle