Closed AlvaroFerGar closed 6 years ago
Sorry for not answering before, I had no time in the last couple of days.
The wheels moving randomly happens with some controllers when they output an effort value that is below a certain threshold. I don't remember the exact details, but I think it shouldn't be happening.
In the last tests I made, I received some error messages regarding the controllers, but haven't looked at them. Although you wrote you got no error messages, it could be related.
I was trying to make the robot colored, but I don't remember right now in which cases it wasn't working. Another thing that I'll have to take a look.
Next time I have some time, I'll compare this project with another project I made that used this package, with some modifications, to see if I can make it work again. The other one I'm pretty sure should be working.
First of all, don't be sorry for no answering in some hours! I didn't expect an instant response and it wasn't necessary.
I will take a look on the next days and post the solution to my problem if I find it. The color isn't a problem for me, I just mentioned it as a curios fact.
Thanks for the feedback!!
No problem, it's just that I like to err on the side of politeness...
Fixed in 7f7844114b91f451724ca97ff5a3ec2442034f34! The problem is that the joints had a name in the description and a different name in the controller.
I also added some files in the script
folder to make debugging easier. Just cd
to that folder and source
the *.sh
files.
Thank you very much for the update! I have tested and it works fine for me.
And thanks also for the *.sh
files! They surely will make things easier for begineers (like me).
I also was thinking that the problem was in the joints names. What I made was changing the naming in rim.urdf.xacro
to be equal with description.urdf
. I didn't notice the joint_velocity.yaml
, but it also has the same naming. The robot appear to be static with this changes but, as i didn't have time to test the movement, I didn't post anything in this issue.
So, in brief, I have the same joint naming in rim.urdf.xacro
, description.urdf
and joint_velocity.yaml
and you keep the different naming in description.urdf
. Is the description.urdf
file irrelevant for the control?
As I said your code works perfectly. I only ask to understand the whole thing. Thanks in advance!
@AlvaroFerGar You're welcome!
About them *.sh
files, they make my life easier too... It was getting pretty annoying doing it the other way.
Yeah, I didn't changed the names in the *.urdf
because I stopped using it. I should have deleted the old description, but didn't because reasons. Shall be done in the future, if I don't forget about it.
About the color, I remembered something. Take a look here. It should be enough to give you some inspiration 😉.
Keep in mind I also remembered that something changed in a Linux library, libpng
or something, that causes the colors to go haywire when viewing with RViz. It might be relevant.
Thank you very much for the update! I have tested and it works fine for me. And thanks also for the
*.sh
files! They surely will make things easier for begineers (like me).I also was thinking that the problem was in the joints names. What I made was changing the naming in
rim.urdf.xacro
to be equal withdescription.urdf
. I didn't notice thejoint_velocity.yaml
, but it also has the same naming. The robot appear to be static with this changes but, as i didn't have time to test the movement, I didn't post anything in this issue. So, in brief, I have the same joint naming inrim.urdf.xacro
,description.urdf
andjoint_velocity.yaml
and you keep the different naming indescription.urdf
. Is thedescription.urdf
file irrelevant for the control?As I said your code works perfectly. I only ask to understand the whole thing. Thanks in advance!
Hi~Maybe I meet the same problem with you, the car rotates clockwise along the yaw axis. Could you tell me your detailed solution? Thank you very much.
Hey I contact you a months ago to know how to move the robot with the keyboard. During the project I was able to find a solution to move the robot with a keyboard and a PS3 joystick , if you want I can send you the project. Thank for the support.
Na(o) quarta, 15/08/2018, 11:49, Guilherme Alan Ritter < notifications@github.com> escreveu:
Sorry for not answering before, I had no time in the last couple of days.
The wheels moving randomly happens with some controllers when they output an effort value that is below a certain threshold. I don't remember the exact details, but I think it shouldn't be happening.
In the last tests I made, I received some error messages regarding the controllers, but haven't looked at them. Although you wrote you got no error messages, it could be related.
I was trying to make the robot colored, but I don't remember right now in which cases it wasn't working. Another thing that I'll have to take a look.
Next time I have some time, I'll compare this project with another project I made that used this package, with some modifications, to see if I can make it work again. The other one I'm pretty sure should be working.
— You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub https://github.com/GuiRitter/OpenBase/issues/6#issuecomment-413162296, or mute the thread https://github.com/notifications/unsubscribe-auth/AiQ3L3U4SzmYdsB6DVUzymob4FOAkPxHks5uQ_zXgaJpZM4V8XTZ .
Hi~Maybe I meet the same problem with you, the car rotates clockwise along the yaw axis. Could you tell me your detailed solution? Thank you very much.
Hello @lanxzheng !
As I said, my main problem was that I had different names for the joints in the rim.urdf.xacro
files (that describe the joints) and in the .yaml
files (that link the joints with their controllers). This was solved by the creator in the last commit 7f78441. So I think that, if you downloaded the last commit, this shouldn't be your problem.
Hope it has helped!
Hey I contact you a months ago to know how to move the robot with the keyboard. During the project I was able to find a solution to move the robot with a keyboard and a PS3 joystick , if you want I can send you the project. Thank for the support. Na(o) quarta, 15/08/2018, 11:49, Guilherme Alan Ritter < notifications@github.com> escreveu: … Sorry for not answering before, I had no time in the last couple of days. The wheels moving randomly happens with some controllers when they output an effort value that is below a certain threshold. I don't remember the exact details, but I think it shouldn't be happening. In the last tests I made, I received some error messages regarding the controllers, but haven't looked at them. Although you wrote you got no error messages, it could be related. I was trying to make the robot colored, but I don't remember right now in which cases it wasn't working. Another thing that I'll have to take a look. Next time I have some time, I'll compare this project with another project I made that used this package, with some modifications, to see if I can make it work again. The other one I'm pretty sure should be working. — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#6 (comment)>, or mute the thread https://github.com/notifications/unsubscribe-auth/AiQ3L3U4SzmYdsB6DVUzymob4FOAkPxHks5uQ_zXgaJpZM4V8XTZ .
I'm glad to hear you got it working!
I'm not working with keyboard or joypad control right now, but maybe it would be a good idea to make a repository with the solutions you found. You'll be able to help more people that way 😉.
Hello,
I roslaunched the velocity controller.launch file. I expected that the robot will spawn and remain static until I publish some commands in one of the topics. After this, I wanted to do something like driving the robot with a keyboard.
The topics seem to be fine and no error message is shown but the robot wheels appear to move randomly. I'm not sure if something(no idea what) went wrong or if this is the normal behavior. In both cases, I'd appreciate some help in order to make an initially static robot.
I'm working with ROS Kinetic and Gazebo 7.0 in Ubuntu 16.04LTS.
If it helps, here is the output in my terminal...
...and the created topics.
And, finally, the robot is spawning with any color. Not sure if this is related to the main problem but it can be a clue to somebody.
Thanks in advance!!!