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ROBOTIS-GIT / OpenCR

Software for ROS Embedded board (a.k.a. OpenCR). OpenCR means Open-source Control Module for ROS.
Apache License 2.0
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Flashing issues using Arduino IDE ROS2 #243

Closed M4Z3dev closed 4 years ago

M4Z3dev commented 4 years ago

Hi,

I use turtlebot but i'have change the wheels radius.

Since odom is calculate on opencr I want to udpate parameter before push the code.

So when i use those lines : $ cd && rm -rf opencr_update.tar.bz2 $ wget https://github.com/ROBOTIS-GIT/OpenCR-Binaries/raw/master/turtlebot3/ROS2/latest/opencr_update.tar.bz2 $ tar -xjf ./opencr_update.tar.bz2

I'have no probleme exept odom is bad.

But when i try to push via arduino IDE after change radius of the wheels, the download works just fine but when i launch ros2 node from my turtlebot3 pc the node fail to connect ??

[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 [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] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [turtlebot3_ros-3] what(): could not create publisher: rcl node's context is invalid, at /tmp/binarydeb/ros-dashing-rcl-0.7.8/src/rcl/node.c:476 [ERROR] [turtlebot3_ros-3]: process has died [pid 1114, exit code -6, cmd '/home/dummy/turtlebot3_ws/install/turtlebot3_node/lib/turtlebot3_node/turtlebot3_ros -i /dev/ttyACM0 __params:=/home/dummy/turtlebot3_ws/install/turtlebot3_bringup/share/turtlebot3_bringup/param/burger.yaml'].

I'have also try to create my own binary file with modification but same issues ...

Edit : Problem solve, my bad, i'had the last dynamixel2arduino version but it work's with 0.3 version.