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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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motors getting locked when using with opencr (XM430-w210-t) #79

Closed krishnaallani closed 6 years ago

krishnaallani commented 6 years ago

Hello all,

I recently bought turtleobt3, it came with dynamixel motors Xm430-w210-t, intel joule and openCR board. I followed the tutorial and done all the steps.

when i launched turtlebot3 bringup and lauched teleoperation it didn't show any errors in the terminal, but the turtlebot didn't move at all when i pressed the keys. I can see the output on /odom topic.

It looks like motors got locked. I tired rotating them manually but they didn't rotate. I didn't force, i thought i might break something inside.

Can anyone help me what's happening?

Thanks

routiful commented 6 years ago

Hi :)

Firmware version 1.1.0 has bug to control dynamixel. We hotfixed it and now you can download v.1.1.1. We apologize for any inconvenience.

Thanks Darby

krishnaallani commented 6 years ago

I am not able to upload the firmware. I am getting the following error:

cmd_read_board_name fail : 0xF020

Can you help me how to solve it?

krishnaallani commented 6 years ago

I uploaded the new firmware v.1.1.1. My motors were moving before i uploaded the firmware, now they got locked. I think there is something wrong with the firmware.

routiful commented 6 years ago

Hello :)

I checked it firmware v.1.1.1. It has not problem to control dynamixel. Would you check your dynamixel setup?

FAQ

Thanks

krishnaallani commented 6 years ago

Thanks, my motors are moving now. But still i can't get the robot working. when I run the following command, I am getting these errors:

roslaunch turtlebot3_bringup turtlebot3_core.launch

`SUMMARY

PARAMETERS

NODES / turtlebot3_core (rosserial_python/serial_node.py)

auto-starting new master process[master]: started with pid [2129] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 98ea3e6c-27fc-11e8-9faf-a0c5894b6b8a process[rosout-1]: started with pid [2142] started core service [/rosout] process[turtlebot3_core-2]: started with pid [2145] [INFO] [1521082650.790351]: ROS Serial Python Node [INFO] [1521082650.802078]: Connecting to /dev/ttyACM0 at 115200 baud [INFO] [1521082653.106244]: Note: publish buffer size is 1024 bytes [INFO] [1521082653.106850]: Setup publisher on sensor_state [turtlebot3_msgs/SensorState] [INFO] [1521082653.111552]: Setup publisher on version_info [turtlebot3_msgs/VersionInfo] [INFO] [1521082653.116422]: Setup publisher on imu [sensor_msgs/Imu] [INFO] [1521082653.123235]: Setup publisher on cmd_vel_rc100 [geometry_msgs/Twist] [INFO] [1521082653.148304]: Setup publisher on odom [nav_msgs/Odometry] [INFO] [1521082653.153266]: Setup publisher on joint_states [sensor_msgs/JointState] [INFO] [1521082653.158437]: Setup publisher on battery_state [sensor_msgs/BatteryState] [INFO] [1521082653.163153]: Setup publisher on magnetic_field [sensor_msgs/MagneticField] [INFO] [1521082655.031962]: Setup publisher on /tf [tf/tfMessage] [INFO] [1521082655.039057]: Note: subscribe buffer size is 1024 bytes [INFO] [1521082655.039888]: Setup subscriber on cmd_vel [geometry_msgs/Twist] [INFO] [1521082655.047288]: Setup subscriber on sound [turtlebot3_msgs/Sound] [INFO] [1521082655.056359]: Setup subscriber on motor_power [std_msgs/Bool] [INFO] [1521082655.064899]: Setup subscriber on reset [std_msgs/Empty]

[INFO] [1521082656.097916]: Connected to OpenCR board! [INFO] [1521082656.099867]: This core(v1.1.1) is compatible with TurtleBot3 Waffle or Waffle Pi

[ERROR] [1521082682.914587]: Lost sync with device, restarting... [ERROR] [1521082712.917347]: Lost sync with device, restarting... `

Can you help me?

routiful commented 6 years ago

Hello :)

We find some bug in Firmware. Would you upload the latest version (1.1.2) to your OpenCR?

Best regard Darby

krishnaallani commented 6 years ago

Thanks, It's working. I think you should should do better job at writing the documentation. It took me more than 1 week to get turtlebot3 running. Anyway, thanks.

routiful commented 6 years ago

Sorry for inconvenience. We are going to write the documentation more better everyday. Thanks you for your kindly advise :)

If you want to any question about TB3, please come again

Thanks Darby