turtlebot3_with_open_manipulator_core exmaple quesition

[hyunoklee]

I find a small issue when running an turtlebot3_with_open_manipulator_core example. I think it is just a recommendation. It's not serious.

I did not connect the motor to OpenCR and downloaded the "turtlebot3_with_open_manipulator_core example" on the OpenCR board. After that, the OpenCR board shows the following erro and Any more I can not process Normal download and DFU download. erro log is -> cmd_read_board_name fail :0xF020 mode

Of course, if I try Firmware Recovery Mode at OpenCR, the board is restored.

But there is a very simple solution. Just add "return false" like below, the problem is solved. If board send ping command to the motor and it does not respond, I think there is needed Exception handling .

file location is turtlebot3/src/open_manipulator/open_manipulator_motor_driver.cpp The function is OpenManipulatorMotorDriver::init.
/////////////////////////////////////////////////////////////////////////////////////////////// if (joint_controller_state == false) DEBUG_SERIAL.println("Failed to ping(joint controller)"); return false; // <-- Exception handling ///////////////////////////////////////////////////////////////////////////////////////////////

and There is wrong typing at 8.5 Firmware Recovery Mode http://emanual.robotis.com/docs/en/parts/controller/opencr10/

$ sudo opencr_ld /dev/ttyACM0 115200 ./opencrfw.bin 1 -> $ sudo ./opencr_ld /dev/ttyACM0 115200 ./opencrfw.bin 1

[routiful]

Hi :)

I will test your suggestion. Thank you for your contribution.