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hoverboard-robotics / hoverboard-driver

ROS hardware driver for UART-controlled hoverboard
MIT License
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Install guide ? #8

Closed Pooky1306 closed 3 years ago

Pooky1306 commented 4 years ago

Hi there, Sorry to bother you with maybe a stupid question, especially through a github issue but I have no other mean to contact you.Your robot looks like a very cool platform to learn ROS along the way and your post on medium is very informative.

The question is where I need to clone this driver and how to install it ? Inside the catkin src folder like robaka and then catkin_make ? Elsewhere ?

Sincerely Max

alex-makarov commented 4 years ago

Hey Max,

Thanks for reaching out! It's a standalone ROS package. Just clone it into your catkin_ws/src and then run catkin_make. Robaka will pick up this driver afterwards.

If you're new to ROS, there may be easier packages to start with. Hoverboard is fun to play with, and is also a very powerful drivetrain, but it can be tricky to set things up as you want them.

Feel free to submit new issues either here or on Robaka repo - it's actually good to have discussions that may help others.

Pooky1306 commented 4 years ago

Hey, Thanks for the inputs ! I finally had some time to play with this ;) It looks like there is a git issue with the dependencies:

~/catkin_ws/src$ git clone --recurse-submodules https://github.com/alex-makarov/hoverboard-driver.git Cloning into 'hoverboard-driver'... remote: Enumerating objects: 150, done. remote: Counting objects: 100% (150/150), done. remote: Compressing objects: 100% (88/88), done. remote: Total 150 (delta 59), reused 130 (delta 46), pack-reused 0 Receiving objects: 100% (150/150), 21.73 KiB | 3.62 MiB/s, done. Resolving deltas: 100% (59/59), done. Submodule 'bipropellant' (git@github.com:alex-makarov/bipropellant-hoverboard-api.git) registered for path 'src/bipropellant' Cloning into '/home/maxime/catkin_ws/src/hoverboard-driver/src/bipropellant'... git@github.com: Permission denied (publickey). fatal: Could not read from remote repository.

I tried to clone manually the dependencies but they have dependencies too.

alex-makarov commented 4 years ago

Try cloning it via SSH, not as HTTPS URL. Should work.

alaeknuman commented 4 years ago

I tried to use it on the raspberry pi 4 8gb, and it was compiled. But I failed to communicate between Raspi and Hoverboard Motor Driver. I have changed the uart port initials to / dev / ttyS0. Here's when I run "ubuntu @ ubuntu: ~ / catkin_ws / src / hoverboard-driver / launch $ roslaunch hoverboard.launch"

ubuntu@ubuntu:~/catkin_ws/src/hoverboard-driver/launch$ roslaunch hoverboard.launch ... logging to /home/ubuntu/.ros/log/bc870842-eccf-11ea-a040-dca632b3387c/roslaunch-ubuntu-2487.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:33661/

SUMMARY

PARAMETERS

NODES / controller_spawner (controller_manager/spawner) hoverboard_driver (hoverboard_driver/hoverboard_driver)

ROS_MASTER_URI=http://localhost:11311

process[hoverboard_driver-1]: started with pid [2504] process[controller_spawner-2]: started with pid [2505] Reconfigured PID to [50, 20, 40, 10] [FATAL] [1599018790.179158001]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.199192470]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.219125928]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.239276039]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.259365329]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.279115489]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.299324051]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.323127173]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.339319148]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.359043768]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.379061402]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.399042032]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.419151953]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.439046111]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.459046595]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.479060543]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.499057434]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.519065844]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.539065050]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.559128133]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.579086409]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.599054389]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.619054891]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.639082359]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.659055396]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.679069566]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.699075551]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.719092481]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.739090742]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.759057592]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.779047242]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.799038873]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.819035967]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.839039840]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.859086162]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.879058328]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.899044310]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.919068223]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.939050649]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.959055726]: Timeout reading from serial /dev/ttyS0 failed [INFO] [1599018790.973235]: Controller Spawner: Waiting for service controller_manager/load_controller [FATAL] [1599018790.979071026]: Timeout reading from serial /dev/ttyS0 failed [INFO] [1599018790.982916]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1599018790.991466]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1599018790.998012]: Loading controller: hoverboard_joint_publisher [FATAL] [1599018790.999044599]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.019054949]: Timeout reading from serial /dev/ttyS0 failed [INFO] [1599018791.020699]: Loading controller: hoverboard_velocity_controller [FATAL] [1599018791.039037941]: Timeout reading from serial /dev/ttyS0 failed [ INFO] [1599018791.040836599]: Controller state will be published at 50Hz. [ INFO] [1599018791.043886391]: Wheel separation will be multiplied by 1. [ INFO] [1599018791.045782892]: Left wheel radius will be multiplied by 1. [ INFO] [1599018791.045966597]: Right wheel radius will be multiplied by 1. [ INFO] [1599018791.047051844]: Velocity rolling window size of 10. [ INFO] [1599018791.048899229]: Velocity commands will be considered old if they are older than 1s. [ INFO] [1599018791.050815640]: Allow mutiple cmd_vel publishers is enabled [ INFO] [1599018791.052561106]: Base frame_id set to base_footprint [ INFO] [1599018791.054398879]: Odometry frame_id set to /raw_odom [ INFO] [1599018791.056135696]: Publishing to tf is disabled [FATAL] [1599018791.059023119]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.079040301]: Timeout reading from serial /dev/ttyS0 failed [ INFO] [1599018791.082917812]: Odometry params : wheel separation 0.32, left wheel radius 0.0825, right wheel radius 0.0825 [ INFO] [1599018791.087974766]: Adding left wheel with joint name: left_wheel and right wheel with joint name: right_wheel [FATAL] [1599018791.099035850]: Timeout reading from serial /dev/ttyS0 failed [ INFO] [1599018791.116576023]: Dynamic Reconfigure: DynamicParams: Odometry parameters: left wheel radius multiplier: 1 right wheel radius multiplier: 1 wheel separation multiplier: 1 Publication parameters: Publish executed velocity command: disabled Publication rate: 50 Publish frame odom on tf: disabled [FATAL] [1599018791.119435850]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.139050988]: Timeout reading from serial /dev/ttyS0 failed [INFO] [1599018791.140592]: Controller Spawner: Loaded controllers: hoverboard_joint_publisher, hoverboard_velocity_controller [FATAL] [1599018791.159030332]: Timeout reading from serial /dev/ttyS0 failed [INFO] [1599018791.160471]: Started controllers: hoverboard_joint_publisher, hoverboard_velocity_controller [FATAL] [1599018791.179074757]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.199068454]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.219037779]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.239065906]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.259071363]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.279041484]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.299027662]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.319036990]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.339038781]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.359062019]: Timeout reading from serial /dev/ttyS0 failed

I am connecting between PA2 (TX) to GPIO 15 RXD, PA3 (RX) to GPIO 14 (TXD) and Ground to Ground, is my wiring correct? following the diagram: https://drive.google.com/file/d/13lbJLGj7j6YcaUf89MpK5GZRPRRk0aG8/view?usp=sharing

ESJavadex commented 4 years ago

I tried to use it on the raspberry pi 4 8gb, and it was compiled. But I failed to communicate between Raspi and Hoverboard Motor Driver. I have changed the uart port initials to / dev / ttyS0. Here's when I run "ubuntu @ ubuntu: ~ / catkin_ws / src / hoverboard-driver / launch $ roslaunch hoverboard.launch"

ubuntu@ubuntu:~/catkin_ws/src/hoverboard-driver/launch$ roslaunch hoverboard.launch ... logging to /home/ubuntu/.ros/log/bc870842-eccf-11ea-a040-dca632b3387c/roslaunch-ubuntu-2487.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:33661/

SUMMARY

PARAMETERS

  • /hoverboard_joint_publisher/publish_rate: 50
  • /hoverboard_joint_publisher/type: joint_state_contr...
  • /hoverboard_velocity_controller/allow_multiple_cmd_vel_publishers: True
  • /hoverboard_velocity_controller/angular/z/has_acceleration_limits: True
  • /hoverboard_velocity_controller/angular/z/has_jerk_limits: True
  • /hoverboard_velocity_controller/angular/z/has_velocity_limits: True
  • /hoverboard_velocity_controller/angular/z/max_acceleration: 3.14
  • /hoverboard_velocity_controller/angular/z/max_jerk: 3.14
  • /hoverboard_velocity_controller/angular/z/max_velocity: 6.28
  • /hoverboard_velocity_controller/base_frame_id: base_footprint
  • /hoverboard_velocity_controller/cmd_vel_timeout: 1.0
  • /hoverboard_velocity_controller/enable_odom_tf: False
  • /hoverboard_velocity_controller/left_wheel: left_wheel
  • /hoverboard_velocity_controller/linear/x/has_acceleration_limits: True
  • /hoverboard_velocity_controller/linear/x/has_jerk_limits: True
  • /hoverboard_velocity_controller/linear/x/has_velocity_limits: True
  • /hoverboard_velocity_controller/linear/x/max_acceleration: 0.1
  • /hoverboard_velocity_controller/linear/x/max_jerk: 0.1
  • /hoverboard_velocity_controller/linear/x/max_velocity: 2.0
  • /hoverboard_velocity_controller/odom_frame_id: /raw_odom
  • /hoverboard_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 10...
  • /hoverboard_velocity_controller/publish_rate: 50.0
  • /hoverboard_velocity_controller/right_wheel: right_wheel
  • /hoverboard_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 10...
  • /hoverboard_velocity_controller/type: diff_drive_contro...
  • /hoverboard_velocity_controller/wheel_radius: 0.0825
  • /hoverboard_velocity_controller/wheel_radius_multiplier: 1.0
  • /hoverboard_velocity_controller/wheel_separation: 0.32
  • /hoverboard_velocity_controller/wheel_separation_multiplier: 1.0
  • /robaka/hardware_interface/joints: ['left_wheel', 'r...
  • /robaka/hardware_interface/loop_hz: 50
  • /rosdistro: melodic
  • /rosversion: 1.14.9

NODES / controller_spawner (controller_manager/spawner) hoverboard_driver (hoverboard_driver/hoverboard_driver)

ROS_MASTER_URI=http://localhost:11311

process[hoverboard_driver-1]: started with pid [2504] process[controller_spawner-2]: started with pid [2505] Reconfigured PID to [50, 20, 40, 10] [FATAL] [1599018790.179158001]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.199192470]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.219125928]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.239276039]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.259365329]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.279115489]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.299324051]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.323127173]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.339319148]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.359043768]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.379061402]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.399042032]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.419151953]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.439046111]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.459046595]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.479060543]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.499057434]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.519065844]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.539065050]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.559128133]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.579086409]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.599054389]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.619054891]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.639082359]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.659055396]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.679069566]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.699075551]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.719092481]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.739090742]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.759057592]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.779047242]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.799038873]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.819035967]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.839039840]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.859086162]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.879058328]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.899044310]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.919068223]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.939050649]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.959055726]: Timeout reading from serial /dev/ttyS0 failed [INFO] [1599018790.973235]: Controller Spawner: Waiting for service controller_manager/load_controller [FATAL] [1599018790.979071026]: Timeout reading from serial /dev/ttyS0 failed [INFO] [1599018790.982916]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1599018790.991466]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1599018790.998012]: Loading controller: hoverboard_joint_publisher [FATAL] [1599018790.999044599]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.019054949]: Timeout reading from serial /dev/ttyS0 failed [INFO] [1599018791.020699]: Loading controller: hoverboard_velocity_controller [FATAL] [1599018791.039037941]: Timeout reading from serial /dev/ttyS0 failed [ INFO] [1599018791.040836599]: Controller state will be published at 50Hz. [ INFO] [1599018791.043886391]: Wheel separation will be multiplied by 1. [ INFO] [1599018791.045782892]: Left wheel radius will be multiplied by 1. [ INFO] [1599018791.045966597]: Right wheel radius will be multiplied by 1. [ INFO] [1599018791.047051844]: Velocity rolling window size of 10. [ INFO] [1599018791.048899229]: Velocity commands will be considered old if they are older than 1s. [ INFO] [1599018791.050815640]: Allow mutiple cmd_vel publishers is enabled [ INFO] [1599018791.052561106]: Base frame_id set to base_footprint [ INFO] [1599018791.054398879]: Odometry frame_id set to /raw_odom [ INFO] [1599018791.056135696]: Publishing to tf is disabled [FATAL] [1599018791.059023119]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.079040301]: Timeout reading from serial /dev/ttyS0 failed [ INFO] [1599018791.082917812]: Odometry params : wheel separation 0.32, left wheel radius 0.0825, right wheel radius 0.0825 [ INFO] [1599018791.087974766]: Adding left wheel with joint name: left_wheel and right wheel with joint name: right_wheel [FATAL] [1599018791.099035850]: Timeout reading from serial /dev/ttyS0 failed [ INFO] [1599018791.116576023]: Dynamic Reconfigure: DynamicParams: Odometry parameters: left wheel radius multiplier: 1 right wheel radius multiplier: 1 wheel separation multiplier: 1 Publication parameters: Publish executed velocity command: disabled Publication rate: 50 Publish frame odom on tf: disabled [FATAL] [1599018791.119435850]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.139050988]: Timeout reading from serial /dev/ttyS0 failed [INFO] [1599018791.140592]: Controller Spawner: Loaded controllers: hoverboard_joint_publisher, hoverboard_velocity_controller [FATAL] [1599018791.159030332]: Timeout reading from serial /dev/ttyS0 failed [INFO] [1599018791.160471]: Started controllers: hoverboard_joint_publisher, hoverboard_velocity_controller [FATAL] [1599018791.179074757]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.199068454]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.219037779]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.239065906]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.259071363]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.279041484]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.299027662]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.319036990]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.339038781]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.359062019]: Timeout reading from serial /dev/ttyS0 failed

I am connecting between PA2 (TX) to GPIO 15 RXD, PA3 (RX) to GPIO 14 (TXD) and Ground to Ground, is my wiring correct? following the diagram: https://drive.google.com/file/d/13lbJLGj7j6YcaUf89MpK5GZRPRRk0aG8/view?usp=sharing

Hello, I am using another protocol but I'm trying to implement using ROS and a Raspberry, I recommend you to not use the GND from the sensor cable. Use the GND from the SWD programming pins. Try it!

alaeknuman commented 4 years ago

I tried to use it on the raspberry pi 4 8gb, and it was compiled. But I failed to communicate between Raspi and Hoverboard Motor Driver. I have changed the uart port initials to / dev / ttyS0. Here's when I run "ubuntu @ ubuntu: ~ / catkin_ws / src / hoverboard-driver / launch $ roslaunch hoverboard.launch"

ubuntu@ubuntu:~/catkin_ws/src/hoverboard-driver/launch$ roslaunch hoverboard.launch ... logging to /home/ubuntu/.ros/log/bc870842-eccf-11ea-a040-dca632b3387c/roslaunch-ubuntu-2487.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:33661/

SUMMARY

PARAMETERS

  • /hoverboard_joint_publisher/publish_rate: 50
  • /hoverboard_joint_publisher/type: joint_state_contr...
  • /hoverboard_velocity_controller/allow_multiple_cmd_vel_publishers: True
  • /hoverboard_velocity_controller/angular/z/has_acceleration_limits: True
  • /hoverboard_velocity_controller/angular/z/has_jerk_limits: True
  • /hoverboard_velocity_controller/angular/z/has_velocity_limits: True
  • /hoverboard_velocity_controller/angular/z/max_acceleration: 3.14
  • /hoverboard_velocity_controller/angular/z/max_jerk: 3.14
  • /hoverboard_velocity_controller/angular/z/max_velocity: 6.28
  • /hoverboard_velocity_controller/base_frame_id: base_footprint
  • /hoverboard_velocity_controller/cmd_vel_timeout: 1.0
  • /hoverboard_velocity_controller/enable_odom_tf: False
  • /hoverboard_velocity_controller/left_wheel: left_wheel
  • /hoverboard_velocity_controller/linear/x/has_acceleration_limits: True
  • /hoverboard_velocity_controller/linear/x/has_jerk_limits: True
  • /hoverboard_velocity_controller/linear/x/has_velocity_limits: True
  • /hoverboard_velocity_controller/linear/x/max_acceleration: 0.1
  • /hoverboard_velocity_controller/linear/x/max_jerk: 0.1
  • /hoverboard_velocity_controller/linear/x/max_velocity: 2.0
  • /hoverboard_velocity_controller/odom_frame_id: /raw_odom
  • /hoverboard_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 10...
  • /hoverboard_velocity_controller/publish_rate: 50.0
  • /hoverboard_velocity_controller/right_wheel: right_wheel
  • /hoverboard_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 10...
  • /hoverboard_velocity_controller/type: diff_drive_contro...
  • /hoverboard_velocity_controller/wheel_radius: 0.0825
  • /hoverboard_velocity_controller/wheel_radius_multiplier: 1.0
  • /hoverboard_velocity_controller/wheel_separation: 0.32
  • /hoverboard_velocity_controller/wheel_separation_multiplier: 1.0
  • /robaka/hardware_interface/joints: ['left_wheel', 'r...
  • /robaka/hardware_interface/loop_hz: 50
  • /rosdistro: melodic
  • /rosversion: 1.14.9

NODES / controller_spawner (controller_manager/spawner) hoverboard_driver (hoverboard_driver/hoverboard_driver)

ROS_MASTER_URI=http://localhost:11311

process[hoverboard_driver-1]: started with pid [2504] process[controller_spawner-2]: started with pid [2505] Reconfigured PID to [50, 20, 40, 10] [FATAL] [1599018790.179158001]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.199192470]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.219125928]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.239276039]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.259365329]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.279115489]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.299324051]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.323127173]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.339319148]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.359043768]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.379061402]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.399042032]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.419151953]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.439046111]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.459046595]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.479060543]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.499057434]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.519065844]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.539065050]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.559128133]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.579086409]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.599054389]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.619054891]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.639082359]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.659055396]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.679069566]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.699075551]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.719092481]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.739090742]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.759057592]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.779047242]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.799038873]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.819035967]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.839039840]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.859086162]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.879058328]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.899044310]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.919068223]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.939050649]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018790.959055726]: Timeout reading from serial /dev/ttyS0 failed [INFO] [1599018790.973235]: Controller Spawner: Waiting for service controller_manager/load_controller [FATAL] [1599018790.979071026]: Timeout reading from serial /dev/ttyS0 failed [INFO] [1599018790.982916]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1599018790.991466]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1599018790.998012]: Loading controller: hoverboard_joint_publisher [FATAL] [1599018790.999044599]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.019054949]: Timeout reading from serial /dev/ttyS0 failed [INFO] [1599018791.020699]: Loading controller: hoverboard_velocity_controller [FATAL] [1599018791.039037941]: Timeout reading from serial /dev/ttyS0 failed [ INFO] [1599018791.040836599]: Controller state will be published at 50Hz. [ INFO] [1599018791.043886391]: Wheel separation will be multiplied by 1. [ INFO] [1599018791.045782892]: Left wheel radius will be multiplied by 1. [ INFO] [1599018791.045966597]: Right wheel radius will be multiplied by 1. [ INFO] [1599018791.047051844]: Velocity rolling window size of 10. [ INFO] [1599018791.048899229]: Velocity commands will be considered old if they are older than 1s. [ INFO] [1599018791.050815640]: Allow mutiple cmd_vel publishers is enabled [ INFO] [1599018791.052561106]: Base frame_id set to base_footprint [ INFO] [1599018791.054398879]: Odometry frame_id set to /raw_odom [ INFO] [1599018791.056135696]: Publishing to tf is disabled [FATAL] [1599018791.059023119]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.079040301]: Timeout reading from serial /dev/ttyS0 failed [ INFO] [1599018791.082917812]: Odometry params : wheel separation 0.32, left wheel radius 0.0825, right wheel radius 0.0825 [ INFO] [1599018791.087974766]: Adding left wheel with joint name: left_wheel and right wheel with joint name: right_wheel [FATAL] [1599018791.099035850]: Timeout reading from serial /dev/ttyS0 failed [ INFO] [1599018791.116576023]: Dynamic Reconfigure: DynamicParams: Odometry parameters: left wheel radius multiplier: 1 right wheel radius multiplier: 1 wheel separation multiplier: 1 Publication parameters: Publish executed velocity command: disabled Publication rate: 50 Publish frame odom on tf: disabled [FATAL] [1599018791.119435850]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.139050988]: Timeout reading from serial /dev/ttyS0 failed [INFO] [1599018791.140592]: Controller Spawner: Loaded controllers: hoverboard_joint_publisher, hoverboard_velocity_controller [FATAL] [1599018791.159030332]: Timeout reading from serial /dev/ttyS0 failed [INFO] [1599018791.160471]: Started controllers: hoverboard_joint_publisher, hoverboard_velocity_controller [FATAL] [1599018791.179074757]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.199068454]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.219037779]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.239065906]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.259071363]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.279041484]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.299027662]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.319036990]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.339038781]: Timeout reading from serial /dev/ttyS0 failed [FATAL] [1599018791.359062019]: Timeout reading from serial /dev/ttyS0 failed

I am connecting between PA2 (TX) to GPIO 15 RXD, PA3 (RX) to GPIO 14 (TXD) and Ground to Ground, is my wiring correct? following the diagram: https://drive.google.com/file/d/13lbJLGj7j6YcaUf89MpK5GZRPRRk0aG8/view?usp=sharing

Hello, I am using another protocol but I'm trying to implement using ROS and a Raspberry, I recommend you to not use the GND from the sensor cable. Use the GND from the SWD programming pins. Try it!

Would you like to share the protocol that you succeeded in using? Isn't the Ground on the SWD also connected to the sensor? OK but I'll try it Thank you for the advice.