Changing initial_speefprofile.yaml does nothing

[kJh19]

On the melodic-devel branch I use the package and nodes to control the While remotely. However, it seems stuck on the default/original speed profile. The setspeedprofile service is called I went over the code and according to all the printed debug information it should work except that in reality, nothing changes.

[s-katsu]

Sorry for the late reply.

First of all, the speed profile is only reflected in the "controller/joy" topic. The speed profile settings are not referenced in "controller/cmd_vel".

Also, the speed profile changes the speed profile that can be changed with the speed setting (Up / Down) button on the end of the arm of the main unit, so please check if the speed changes when operating the Joystick on the main unit after executing the speed profile setting.

For reference, here is the description of the speed profile setting in the Model CR communication specification.

https://github.com/WHILL/whill_control_system_protocol_specification/blob/master/WHILL_Control_System_Protocl_Specification.pdf

[kJh19]

Hi, I publish to /whill/controller/joy. but using the set_speed_profile_srv does not change anything.

[s-katsu]

Thank you for your reply.

Can you tell me what specific speed profile settings you are using? One possibility is that the value is outside the range of possible settings, so the setting is not reflected.

https://github.com/WHILL/whill_control_system_protocol_specification/blob/master/WHILL_Control_System_Protocl_Specification.pdf

The range of possible settings can be found in the communication specification 3.2.5 Range of SetSpeedProfile.

[kJh19]

I was using the exact max values, I also tried with lower values. However, I managed to switch to Melodic now, and now I use the cmd_vel topic.