andreasBihlmaier
commented
4 years ago Hi everyone, same issue here: I just finished putting together my TB3 + OM.
When using the waffle.opencr binary (from https://github.com/ROBOTIS-GIT/OpenCR-Binaries/raw/master/turtlebot3/ROS2/latest/opencr_update.tar.bz2), the OpenCR makes sounds and robot.launch.py works:
ubuntu@ubuntu$ ros2 launch turtlebot3_bringup robot.launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2020-02-28-00-23-40-156747-ubuntu-8643
[INFO] [launch]: Default logging verbosity is set to INFO
urdf_file_name : turtlebot3_waffle_pi.urdf
[INFO] [robot_state_publisher-1]: process started with pid [8653]
[INFO] [hlds_laser_publisher-2]: process started with pid [8654]
[INFO] [turtlebot3_ros-3]: process started with pid [8655]
[robot_state_publisher-1] Initialize urdf model from file: /home/ubuntu/turtlebot3_ws/install/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_waffle_pi.urdf
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link base_link had 7 children
[robot_state_publisher-1] Link camera_link had 1 children
[robot_state_publisher-1] Link camera_rgb_frame had 1 children
[robot_state_publisher-1] Link camera_rgb_optical_frame had 0 children
[robot_state_publisher-1] Link caster_back_left_link had 0 children
[robot_state_publisher-1] Link caster_back_right_link had 0 children
[robot_state_publisher-1] Link imu_link had 0 children
[robot_state_publisher-1] Link base_scan had 0 children
[robot_state_publisher-1] Link wheel_left_link had 0 children
[robot_state_publisher-1] Link wheel_right_link had 0 children
[robot_state_publisher-1] got segment base_footprint
[robot_state_publisher-1] got segment base_link
[robot_state_publisher-1] got segment base_scan
[robot_state_publisher-1] got segment camera_link
[robot_state_publisher-1] got segment camera_rgb_frame
[robot_state_publisher-1] got segment camera_rgb_optical_frame
[robot_state_publisher-1] got segment caster_back_left_link
[robot_state_publisher-1] got segment caster_back_right_link
[robot_state_publisher-1] got segment imu_link
[robot_state_publisher-1] got segment wheel_left_link
[robot_state_publisher-1] got segment wheel_right_link
[robot_state_publisher-1] Adding fixed segment from base_footprint to base_link
[robot_state_publisher-1] Adding fixed segment from base_link to camera_link
[robot_state_publisher-1] Adding fixed segment from camera_link to camera_rgb_frame
[robot_state_publisher-1] Adding fixed segment from camera_rgb_frame to camera_rgb_optical_frame
[robot_state_publisher-1] Adding fixed segment from base_link to caster_back_left_link
[robot_state_publisher-1] Adding fixed segment from base_link to caster_back_right_link
[robot_state_publisher-1] Adding fixed segment from base_link to imu_link
[robot_state_publisher-1] Adding fixed segment from base_link to base_scan
[robot_state_publisher-1] Adding moving segment from base_link to wheel_left_link
[robot_state_publisher-1] Adding moving segment from base_link to wheel_right_link
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init TurtleBot3 Node Main
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init DynamixelSDKWrapper
[turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to open the port(/dev/ttyACM0)!
[turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to change the baudrate!
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Start Calibration of Gyro
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Calibration End
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Motors
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Wheels
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Sensors
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create battery state publisher
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create imu publisher
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create sensor state publisher
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create joint state publisher
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Devices
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create motor power server
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create reset server
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create sound server
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Run!
[turtlebot3_ros-3] [INFO] [diff_drive_controller]: Init Odometry
[turtlebot3_ros-3] [INFO] [diff_drive_controller]: Run!However, the OM cannot be controlled (as expected using the waffle binary).
When I use om_with_tb3.opencr (from same archive) the OM immediately goes into a start position, but it is no longer possible to communicate with the OpenCR:
... as before ...
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init TurtleBot3 Node Main
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init DynamixelSDKWrapper
[turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to open the port(/dev/ttyACM0)!
[turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to change the baudrate!
[turtlebot3_ros-3] [ERROR] [turtlebot3_node]: Failed connection with Devices
... not working ...Timely help would be greatly appreciated.
Hi,
I have 3 TB3s and 3 OM-Xs (Mobile manipulation) with RPi 3B+ running raspian and with an OpenCR board. When I try to upload the firmware for OM +TB3 (Link) on the OpenCR, the USB port from the OpenCR disappears and the OpenCR is inoperational. To get the OpenCR working again, I need to go into firmware recovery mode and then change the firmware to the TB3 core. I've been trying this for a while now and I can definitively say that this is NOT a ROS issue but something with either the bootloader or the firmware for the OM+TB3. I also tried the older version of the firmware and get the same issue. The issue also persists with trying to compile the code from the Arduino IDE v1.8.12 (on both Linux and Windows). This is an issue on all of the 3 OpenCR boards I don't think its a hardware issue. I've also tried to re-install the bootloader (from the Arduino IDE) by getting into the DFU mode and then installing the firmware, this doesn't seem to work as well. Any ideas on how to fix this issue or the possible source of the problem?
A quick reply would be much appreciated.