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RoboMaster / RoboRTS

An open source software stack for Real-Time Strategy research on mobile robots
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Is it possible to use just 4 mecanum wheel? #50

Open Noriyuki-Kugou opened 3 years ago

Noriyuki-Kugou commented 3 years ago

I want to use this Repo to make hobby mecanum robot. and i trying now. But mecanum wheel dose not work. If anyone know it, please let me know.

When I run roslaunch roborts_bringup base.launch and rostopic pub /cmd_vel ****

but mecunum wheel dose not work.

---Hardware Detail infomation--- ・RM board : robomaster development board type A ・RM firmware ver : stable_v1.0.1.6 ・Device : Only 4 RoboMaster M3508 P19(with c620) wheel. no connect UWB, Referee system ・Board processing : short on board 4-pin serial port R and G ・Board appearance : LED_R is ON, LED_G is Blinking ・Connection : Intel NUC ---> RM Board type A ---> (C620 ---> M3508 P19) * 4

kugou@kugou:~/catkin_ws$ roslaunch roborts_bringup base.launch ... logging to /home/kugou/.ros/log/7ce4baa6-3395-11eb-9e0d-00d86117fc71/roslaunch-kugou-15777.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

WARNING: ignoring defunct tag /opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/loader.py:412: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details. data = yaml.load(text) started roslaunch server http://192.168.1.201:35983/

SUMMARY

PARAMETERS

NODES / roborts_base_node (roborts_base/roborts_base_node)

ROS_MASTER_URI=http://localhost:11311

process[roborts_base_node-1]: started with pid [15792] WARNING: Logging before InitGoogleLogging() is written to STDERR I1201 14:40:49.532860 15792 handle.cpp:33] Connection to /dev/serial_sdk I1201 14:40:49.532920 15792 handle.cpp:39] Initialization of protocol layer and dispatch layer succeeded. E1201 14:40:49.584280 15798 protocol.cpp:103] Retry session 2 [ INFO] [1606801249.586549455]: Chassis Firmware Version: 1.0.1.6 E1201 14:40:49.587541 15798 protocol.cpp:103] Retry session 3 E1201 14:40:49.639430 15798 protocol.cpp:103] Retry session 3 E1201 14:40:49.691453 15798 protocol.cpp:103] Retry session 3 E1201 14:40:49.742478 15798 protocol.cpp:103] Retry session 3

charmyoung commented 3 years ago

Currently this repo is only supported for AI robot. You can build your own by realizing the same functionality for RM Board type A according to roborts-firmware repo .