mjstn
commented
2 years ago I have resolved this by doing merges (twice now) from the 4WD to current magni kinetic-devel as well as noetic-devel. I feel that takes care of the bulk of my concerns thus closing this now.
Fundamental Issue With Ubiquity Motor Usage in Magni and 4WD unit: !!! We converted the 4WD platform over to use the awd_coordinator and 4wd stuff and it works well. BUT we have left Magni in the dust I think.
We did not fork or anything so we are trying to use branches that are platform specific so getting those branches back into kinetic-devel is a major PITA.
I am having issue with trying to get some newer firmware support into ubiquity motor and at runtime it bails out with logs indicating the motor changes in ubiquity_motor are not compatible with something(s) in magni kinetic-devel branch.
It is not realistic to have a totally separate ubiquity_motor but if that becomes required we must figure out a way to allow that NOW because the plot is getting really thick fast now.
Here is where it bails in usage on a Magni: This is with me trying to merge the 4wd developed firmware new fetures on host side to regular kinetic-devel ubiquity_motor and runtime bails out with the 4wd change related things. The code for this is in branch fixWheelSlipOverheat1
1607293975.895521658 INFO [/tmp/binarydeb/ros-kinetic-diff-drive-controller-0.13.6/src/diff_drive_controller.cpp:304(DiffDriveController::init) [topics: /rosout, /diagnostics, /left_error, /right_error, /battery_state, /motor_power_active, /motor_state, /left_current, /right_current, /motor_node/parameter_descriptions, /motor_node/parameter_updates] Odometry params : wheel separation 0.33, left wheel radius 0.1015, right wheel radius 0.1015 1607293975.911318540 INFO [/tmp/binarydeb/ros-kinetic-diff-drive-controller-0.13.6/src/diff_drive_controller.cpp:318(DiffDriveController::init) [topics: /rosout, /diagnostics, /left_error, /right_error, /battery_state, /motor_power_active, /motor_state, /left_current, /right_current, /motor_node/parameter_descriptions, /motor_node/parameter_updates, /odom, /tf] Adding left wheel with joint name: left_wheel_joint and right wheel with joint name: right_wheel_joint 1607293975.913899695 ERROR [/tmp/binarydeb/ros-kinetic-controller-manager-0.13.5/src/controller_manager.cpp:237(ControllerManager::loadController) [topics: /rosout, /diagnostics, /left_error, /right_error, /battery_state, /motor_power_active, /motor_state, /left_current, /right_current, /motor_node/parameter_descriptions, /motor_node/parameter_updates, /odom, /tf] Exception thrown while initializing controller ubiquity_velocity_controller. Could not find resource 'left_wheel_joint' in 'hardware_interface::VelocityJointInterface'. 1607293975.914298915 ERROR [/tmp/binarydeb/ros-kinetic-controller-manager-0.13.5/src/controller_manager.cpp:247(ControllerManager::loadController) [topics: /rosout, /diagnostics, /left_error, /right_error, /battery_state, /motor_power_active, /motor_state, /left_current, /right_current, /motor_node/parameter_descriptions, /motor_node/parameter_updates, /odom, /tf] Initializing controller 'ubiquity_velocity_controller' failed 1607293976.925935983 ERROR [spawner:190(main) [topics: /rosout] Failed to load ubiquity_velocity_controller 1607293976.929018974 INFO [spawner:184(main) [topics: /rosout] Loading controller: ubiquity_joint_publisher 1607293976.981106996 INFO [spawner:192(main) [topics: /rosout] Controller Spawner: Loaded controllers: ubiquity_joint_publisher 1607293979.264349101 ERROR [/home/ubuntu/catkin_ws/src/ubiquity_motor/src/motor_node.cc:235(main) [topics: /rosout, /diagnostics, /left_error, /right_error, /battery_state, /motor_power_active, /motor_state, /left_current, /right_current, /motor_node/parameter_descriptions, /motor_node/parameter_updates, /joint_states] The Firmware not reporting its version