rbonghi / roboteq_control Goto Github PK

Hey, what is the breaking part between the different motor driver versions? (So I can port the SBL2360)

Hi

How shall i configure the roboteq.yaml to use brushless motor's Hall sensor?

Best,
Samuel

Hi @rbonghi
Thanks for your great work. I'm wondering if the driver is compatible with the SDC2160 (firmware 1.8). I'm not able to try it on the real hardware at the moment that's why I'm asking.

Thanks for your great help.

The following reads the ratio whenever called.
It is bad for runtime as it is a blocking networking task.
Instead, the parameter should be read at the start of the node, also because it is very likely that this value will not change.

Hello, this package is so good. thanks.

Sometimes when I ran the launch file I have the emergency stop activated, I have already tried publishing by the corresponding topic but it does not work for me.

whenever publishing false or true to '/roboteq/emergency stop' topic emergency stop turns on
rostopic pub /roboteq/emergency_stop std_msgs/Bool "data: false" -r 10 Publishing like @thingsjimenez said
code:

void Roboteq::stop_Callback(const std_msgs::Bool::ConstPtr& msg)
{
    // Wait end motor loop
    while(motor_loop_);
    // Read status message
    bool status = (bool)msg.get()->data;
    if(status)
    {
        // Send emergency stop
        mSerial->command("EX");
        ROS_WARN_STREAM("Emergency stop");
    } else
    {
        // Safety release
        mSerial->command("MG");
        ROS_WARN_STREAM("Safety release");
    }
}`
```
emergency stop don't release

While i am loading parameters from Roboteq using load from EEPORM load roboteq and i am getting this warning :
Failure parsing feedback data. Dropping message.bad lexical cast: source type value could not be interpreted as target
I am using Roboteq firmware 2.1 version and MDC 2460 board.
Can anyone help on this issue. Thanks beforehand.

Hi,

It look like you have memory leak. You are declaring new serial controller in roboteq_control.cpp, but I couldn't find a corresponding delete call

Hi there, here is the output from the /roboteq/left_joint/control topic. Any thoughts on how to figure out why the motors are not moving. The motors move fine with the official repo from roboteq, but I'd like to use your package since the official repo does not have good odometry.

Disable interface on switch off

https://github.com/rbonghi/roboteq_control/blob/master/src/roboteq/roboteq.cpp#L134

Hi rbonghi

I was trying to test your code but in the wiki the link to http://rnext.it/project/roboteq_control was not working. Can you provide a small readme on how to start your node?

Regards Max

Dear rbonghi,

I also have this controller but I have little experience with the ros_control structure
Can you tell me how do I get from your code to a running controller?
Do you use launch files or service calls? And what are joint names since I've seen a service call to launch controllers from the controller manager but for that I need to know how you named them?

Best regards,

Freek.

Hi,

I am new to Roboteq controller. I come across this package and I think you have done a very good job. May i know how do you control the motor controller in this package? Is it through rs232 or rs485 or can bus?

Hope you can enlighten me.

Thanks.

David

Dear rbonghi,
Thank you for making this awesome package. Most of things worked great. But I have a little problem when using with geared motor which number of gear = 20 when I ran command
rosparam get to get the gear ratio, it showed me 1 instead of 20. I've already set at the ratio: 16.0 inside roboteq.yaml file
I suspected that the dynamic reconfigure might've altered the value. Please guide me if I might've miss some necessary steps

Thank you
Oak

hello!

i have just given a shot to roboteq_control and launched:

roslaunch roboteq_control differential_drive.launch

when i run teleop_twist_keyboard node it continues to wait for the subscriber and also i am not getting the same rqt_graph as mentioned here: https://github.com/rbonghi/roboteq_control/wiki/images/rosgraph_simple.png
my rqt_graph is given below:

in my case velocity controller is not publishing anything????

i would be very grateful for your response
regards

Hi

I found that the topic /joint_states position is showing [nan, nan], which eventually cause the diff_drive_controller cannot extract the position info to act on them, as per line 416 in diff_drive_controller , it will check the position by using isnan(lp) || isnan(rp), if nan, then will skip the codes below.

Is there a way to solve this?

Best,
Samuel

Hi

Your roboteq_control is awesome. I have tried it out and find the it's really awesome. I am curious do you have ROS2 version of roboteq_control that can integrate with diff_drive_controller of ros2_controllers ?

Best,
Samuel