Open correll opened 9 years ago
Created a launch file which would start all the required services including GPS, IMU, Joystick and Motors.
ubuntu@tegra-ubuntu:~/catkin_ws/src/single_launch$ pwd /home/ubuntu/catkin_ws/src/single_launch ubuntu@tegra-ubuntu:~/catkin_ws/src/single_launch$ ubuntu@tegra-ubuntu:~/catkin_ws/src/single_launch$ roslaunch all_launch.launch ... logging to /home/ubuntu/.ros/log/a6737188-735a-11e5-9883-00044b25cddd/roslaunch-tegra-ubuntu-9904.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. started roslaunch server http://tegra-ubuntu:35596/ SUMMARY ======== PARAMETERS * /imu/accel_x_max: 263.0 * /imu/accel_x_min: -262.0 * /imu/accel_y_max: 258.0 * /imu/accel_y_min: -260.0 * /imu/accel_z_max: 256.0 * /imu/accel_z_min: -270.0 * /imu/calibration_magn_use_extended: False * /imu/gyro_average_offset_x: -80.13 * /imu/gyro_average_offset_y: 21.4 * /imu/gyro_average_offset_z: 16.97 * /imu/imu_yaw_calibration: 0.0 * /imu/magn_ellipsoid_center: [125.243, -34.618... * /imu/magn_ellipsoid_transform: [[0.875048, 0.073... * /imu/magn_x_max: 600.0 * /imu/magn_x_min: -600.0 * /imu/magn_y_max: 600.0 * /imu/magn_y_min: -600.0 * /imu/magn_z_max: 600.0 * /imu/magn_z_min: -600.0 * /imu/port: /dev/IMU_System * /jaguar_joystick_info/axis_angular: 4 * /jaguar_joystick_info/scale_flipper: 0.5 * /jaguar_node_info/Enable_IR: False * /jaguar_node_info/Enable_US: False * /jaguar_node_info/EncoderCircleCnt: 190 * /jaguar_node_info/MaxSpeed: 1.0 * /jaguar_node_info/MinSpeed: 0.1 * /jaguar_node_info/MotorDir: 1 * /jaguar_node_info/RobotBaseIP: 192.168.0.60 * /jaguar_node_info/RobotCommMethod: Serial * /jaguar_node_info/RobotID: arpg_jag * /jaguar_node_info/RobotPortNum: 10001 * /jaguar_node_info/RobotSerialPort: /dev/MOTOR_System * /jaguar_node_info/RobotType: Jaguar * /jaguar_node_info/WheelDistance: 0.45 * /jaguar_node_info/WheelRadius: 0.135 * /joy_node_info/joy_node/dev: /dev/JOYSTICK_System * /navsattest/baud: 115200 * /navsattest/port: /dev/GPS_System * /rosdistro: indigo * /rosversion: 1.11.13 NODES / imu (razor_imu_9dof/imu_node.py) jaguar_joystick_info (jaguar/jaguar_joystick) jaguar_node_info (jaguar/jaguar_node) joy_node_info (joy/joy_node) navsattest (nmea_navsat_driver/nmea_serial_driver) ROS_MASTER_URI=http://localhost:11311 core service [/rosout] found process[joy_node_info-1]: started with pid [9922] process[navsattest-2]: started with pid [9940] process[imu-3]: started with pid [9942] process[jaguar_node_info-4]: started with pid [9946] [WARN] [WallTime: 1444927493.319870] Received a sentence with an invalid checksum. Sentence was: '\x00' [WARN] [WallTime: 1444927493.385214] Received a sentence with an invalid checksum. Sentence was: '\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00$GPRMC,014142.6,V,4000.41520,N,10515.80242,W,,,220899,008.7,E*64' process[jaguar_joystick_info-5]: started with pid [9999] [INFO] [WallTime: 1444927494.280801] Reconfigure request for yaw_calibration: 0 [INFO] [WallTime: 1444927494.282216] Set imu_yaw_calibration to 0 [INFO] [WallTime: 1444927494.436330] Opening /dev/IMU_System... [INFO] [WallTime: 1444927494.438430] Giving the razor IMU board 5 seconds to boot... [INFO] [WallTime: 1444927500.788300] Writing calibration values to razor IMU board... [INFO] [WallTime: 1444927501.915095] Printing set calibration values: ACCEL_X_MIN:-262.00 ACCEL_X_MAX:263.00 ACCEL_Y_MIN:-260.00 ACCEL_Y_MAX:258.00 ACCEL_Z_MIN:-270.00 ACCEL_Z_MAX:256.00 MAGN_X_MIN:-600.00 MAGN_X_MAX:600.00 MAGN_Y_MIN:-600.00 MAGN_Y_MAX:600.00 MAGN_Z_MIN:-600.00 MAGN_Z_MAX:600.00 MAGN_USE_EXTENDED:false magn_ellipsoid_center:[0.0000,0.0000,0.0000] magn_ellipsoid_transform:[[0.0000000,0.0000000,0.0000000],[0.0000000,0.0000000,0.0000000],[0.0000000,0.0000000,0.0000000]] GYRO_AVERAGE_OFFSET_X:-80.13 GYRO_AVERAGE_OFFSET_Y:24.00 GYRO_AVERAGE_OFFSET_Z:16.97 [INFO] [WallTime: 1444927501.954472] Flushing first 200 IMU entries... [INFO] [WallTime: 1444927506.067994] Publishing IMU data...
Created a launch file which would start all the required services including GPS, IMU, Joystick and Motors.