Open henryliuliuliu opened 2 years ago
您好, 我今天又做了测试,没有遇到位置控制的问题。
位置控制时官方建议使用Filtered Position Control。
应该是看门狗溢出,然后我需要重启个一两次才能成功 不知为啥
On Tue, Feb 8, 2022 at 12:56 AM Borong Yuan @.***> wrote:
您好, 我今天又做了测试,没有遇到位置控制的问题。
- 这个报错后关闭ROS,启动odrivetool会不会遇到什么问题?使用dump_errors会报哪些错误?
这个驱动为了防止切换控制模式时出现状态跳变,会自动将当前状态设为控制命令。比如从速度控制切换到位置控制时,会自动将位置命令设为当前位置估计值。启动时也会有一次控制模式切换,因此会发一次位置命令。
只有控制模式切换时会自动修改命令,平时不会修改controller的命令。关闭ROS后看下dump_errors会报哪些错误?其实错误码也转发到ROS了,但我们还没加解析和诊断。
位置控制时官方建议使用Filtered Position Control https://urldefense.com/v3/__https://docs.odriverobotics.com/v/latest/control-modes.html*id4__;Iw!!LIr3w8kk_Xxm!_N2MI2Gsgl4ce9Clx1eHGwcMq2Bvneobupa2_iyx41iiuVr1Z_DgkHvBOaZyJFo$ 。
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就每次关错了 先关了电脑上得发布命令的控制器 然后底层树莓派上驱动还在运行 因为用的是速度控制 然后就电机被挡住了 就溢出了
On Tue, Feb 8, 2022 at 9:12 AM Shipeng Liu @.***> wrote:
应该是看门狗溢出,然后我需要重启个一两次才能成功 不知为啥
On Tue, Feb 8, 2022 at 12:56 AM Borong Yuan @.***> wrote:
您好, 我今天又做了测试,没有遇到位置控制的问题。
- 这个报错后关闭ROS,启动odrivetool会不会遇到什么问题?使用dump_errors会报哪些错误?
这个驱动为了防止切换控制模式时出现状态跳变,会自动将当前状态设为控制命令。比如从速度控制切换到位置控制时,会自动将位置命令设为当前位置估计值。启动时也会有一次控制模式切换,因此会发一次位置命令。
只有控制模式切换时会自动修改命令,平时不会修改controller的命令。关闭ROS后看下dump_errors会报哪些错误?其实错误码也转发到ROS了,但我们还没加解析和诊断。
位置控制时官方建议使用Filtered Position Control https://urldefense.com/v3/__https://docs.odriverobotics.com/v/latest/control-modes.html*id4__;Iw!!LIr3w8kk_Xxm!_N2MI2Gsgl4ce9Clx1eHGwcMq2Bvneobupa2_iyx41iiuVr1Z_DgkHvBOaZyJFo$ 。
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在树莓派上当前watchdog_timeout可能有点短,可能初始化喂狗后还没进入闭环控制喂狗就超时了,可以改长一些,或者先禁用看门狗测试
OK
On Tue, Feb 8, 2022 at 5:51 PM Borong Yuan @.***> wrote:
在树莓派上当前watchdog_timeout可能有点短,可能初始化喂狗后还没进入闭环控制喂狗就超时了,可以改长一些,或者先禁用看门狗测试
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