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MoebiusTech / Stm32f103rct6

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ROS packages #2

Closed FrankyForkFingerz closed 3 years ago

FrankyForkFingerz commented 3 years ago

Hello, Do you can provide the ROS packages for that board?

I want to use it on a raspberry pi4 with ROS catkin melodic.

Or maybe a whole image for a raspberry pi4 with a working ROS like you made for the raspberry pi3.

Thank you in advance.

danielespitiacol commented 3 years ago

Hi Franky, I have the same problem.

I think the board is not programmed from factory to comunicate with ROS.

guronutf8 commented 3 years ago

Hi Franky, I have the same problem.

  • I have installed ROS kinetic in the PC and flashed the ubuntu mate image (provided by google drive) to the raspberry pi, and setup the ros network successfully.
  • I have plugged the SMT32 board to the raspberry by USB and checked mbsbase port appear in the /dev/ directory succesfully.
  • When I run "roslaunch mbsrobot bringup.launch", I have the error: Unable to sync with device.

I think the board is not programmed from factory to comunicate with ROS.

https://github.com/MoebiusTech/ROS_STM32/blob/main/STM32_Ros_master_melodic-lib.7z I figured it out, I need to reflash to work with ROS

danielespitiacol commented 3 years ago

Thank you guronutf8

I have flashed, but now I have this problem: [ERROR] Creation of publisher failed: riki_msgs [ERROR] Tried to publish before configurated, topic id 126

guronutf8 commented 3 years ago

Thank you guronutf8

I have flashed, but now I have this problem: [ERROR] Creation of publisher failed: riki_msgs [ERROR] Tried to publish before configurated, topic id 126

examine the file config.h. Pay attention to #define ROSVERSION 2 (3 noetic doesn't work, i.e. 1 or 2) if 1. you need to add riki_msgs to your satkin_bs search in Google. Or 2, copy the mbs_msgs directory to your catkin_vs

Further: in CMakeLists.txt add find_package (

mbs_msgs

) further: catkin_make

ps mbs_msgs "Install the MBS environment on your own Linux\catkin_ws\src\mbsrobot_project\mbs_msgs\" from https://drive.google.com/drive/folders/1FbEeWd4VyqahfnX3yiib85Xs_cBSabZK

guronutf8 commented 3 years ago

ps links to google drive found here https://github.com/MoebiusTech/ROS_STM32

danielespitiacol commented 3 years ago

Thank you guronutf8 I have flashed, but now I have this problem: [ERROR] Creation of publisher failed: riki_msgs [ERROR] Tried to publish before configurated, topic id 126

examine the file config.h. Pay attention to #define ROSVERSION 2 (3 noetic doesn't work, i.e. 1 or 2) if 1. you need to add riki_msgs to your satkin_bs search in Google. Or 2, copy the mbs_msgs directory to your catkin_vs

Further: in CMakeLists.txt add find_package (

mbs_msgs

) further: catkin_make

ps mbs_msgs "Install the MBS environment on your own Linux\catkin_ws\src\mbsrobot_project\mbs_msgs" from https://drive.google.com/drive/folders/1FbEeWd4VyqahfnX3yiib85Xs_cBSabZK

Now it works! I am using kinetic and I downloaded riki_msgs from: https://github.com/dwz9406/rikirobot/tree/master/catkin_ws/src/rikirobot_project/riki_msgs I have copied it in the catkin_ws/src folder and run:
cd ~/catkin_ws catkin_make -j1 Thank you for your help

mattkanwisher commented 3 years ago

Is there some info on how you flash the STM32? I see a bunch of windows programs, is there any way to do this from linux? Is there a specific file we need to give to the flasher?

FrankyForkFingerz commented 3 years ago

Hello guys,

Last weekend finally I managed the board to work on a Raspberry Pi4 with an Ubuntu 20.04 and ROS Noetic.

Thanks @guronutf8 for the tip of reflashing and thanks @danielespitiacol for the link of the riki_msgs.

@mattkanwisher This is the link of the software you have to flash: https://github.com/MoebiusTech/Stm32f103rct6/commit/3c39522138b9a6083eaf70917c4e10324b2d4840#diff-1bb6a2ad3de12d8b44050e2a2b9e158f06c0a4ff938486471b69dc42d707c5c8

Important is to flash the right version according to your rosversion, pay attention to #define ROSVERSION, like guronutf8 wrote.

KEIL is the software of choice to flash, how it works on linux I don’t know but easiest would be to generate a virtual machine with windows 10 and KEIL for ARM.

@danielespitiacol You wrote: “I have installed ROS kinetic in the PC and flashed the ubuntu mate image (provided by google drive) to the raspberry pi, and setup the ros network successfully.”

Do you use a ROS Master and a Slave?

Best regards

danielespitiacol commented 3 years ago

Hello guys,

Last weekend finally I managed the board to work on a Raspberry Pi4 with an Ubuntu 20.04 and ROS Noetic.

Thanks @guronutf8 for the tip of reflashing and thanks @danielespitiacol for the link of the riki_msgs.

@mattkanwisher This is the link of the software you have to flash: 3c39522#diff-1bb6a2ad3de12d8b44050e2a2b9e158f06c0a4ff938486471b69dc42d707c5c8

Important is to flash the right version according to your rosversion, pay attention to #define ROSVERSION, like guronutf8 wrote.

KEIL is the software of choice to flash, how it works on linux I don’t know but easiest would be to generate a virtual machine with windows 10 and KEIL for ARM.

@danielespitiacol You wrote: “I have installed ROS kinetic in the PC and flashed the ubuntu mate image (provided by google drive) to the raspberry pi, and setup the ros network successfully.”

Do you use a ROS Master and a Slave?

Best regards

@FrankyForkFingerz I´m running roscore in a PC with windows 10 and a virtual machine running Ubuntu 16.04 and ros kinetic. The raspberry and the PC are in the same wifi network.

Best regards

juvinski commented 3 years ago

hi @FrankyForkFingerz ,

Are you sure the version on the link you posted ? because on that link ther e is just the ps controller code - not the ROS. What I found was on the other repository: https://github.com/MoebiusTech/ROS_STM32/blob/main/STM32_Ros_master_melodic-lib.7z

nofiyanaj commented 2 years ago

what is mbsrobot ubuntu root password?

MoebiusTech commented 2 years ago

password：123456

@.***

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