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jackal / jackal_robot

Robot packages for Jackal
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Jackal does not move, after kernel upgrade #46

Closed adamanov closed 2 years ago

adamanov commented 2 years ago

Please provide the following information:

We had a problem with our Ethernet and WLAN network, therefore we had to update our kernel from 4.15 to 5.. As soon as we update, our WLAN starts working as expected, however, we lose control with Joystick, it does not work anymore. We paired it again, the joystick commands are published on certain topics, and we can see them through rostopic echo ... However, the jackal_node does not make the robot move.

A clear and concise description of what you encountered.

To Reproduce Provide the steps to reproduce:

  1. install ISO image with Melodic on jackal,
  2. sudo apt-get install ubuntu-desktop
  3. uname -sr # 4...
  4. sudo apt-get install --install-recommends linux-generic-hwe-18.04 xserver-xorg-hwe-18.04
  5. sudo reboot
  6. uname –sr # 5..
  7. Jackal does not move anymore
civerachb-cpr commented 2 years ago

Sorry to hear you're having problems with your Jackal! Can you please run a couple of quick tests to help diagnose the issue?

1) Verify that the low-level messages are being received by the kernel:

sudo apt-get install jstest-gtk
jstest /dev/input/ps4

You should see a stream of output indicating the states of the buttons and axes. If you do not, then this would indicate that there could be a problem with the ds4drv driver we use for the PS4 controllers.

2) Verify that the bluetooth_teleop/joy node is publishing correctly:

sudo systemctl restart ros
rostopic echo /bluetooth_teleop/joy

Again, make sure that button presses and joystick motions are reflected properly in the output. Also take note of the indices of the vertical & horizontal axes of the left stick and the indices of the left & right shoulder buttons. The ROS driver specifies the indices for the deadman switches & control axes, so if these have changed as a result of the kernel update you may need to remap the controls.

3) Make sure the motor controller itself is working:

rostopic pub /cmd_vel geometry_msgs/Twist "linear:
  x: 0.1
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0" -r 10

This will drive the robot forwards at 10cm/s, so make sure the robot is on blocks or has a clear path forwards. Cancelling will stop the robot. If the robot doesn't move at all then there may be a problem with the communication between the PC and the MCU, or between the MCU and the motors. Either is unrelated to the bluetooth controller.

4) Verify that bluetooth_teleop/cmd_vel is publishing correctly:

rostopic echo /bluetooth_teleop/cmd_vel

Hold down the left shoulder button and move the left thumb stick. You should see the Linear X and Angular Z parameters changing. As with the previous test, the robot should move during this procedure, so make sure it's not going to run into anything.

Some additional output that will be helpful for diagnosing possible MCU issues:

rostopic echo /status
ls -l /dev
groups
sudo udevadm info --attribute-walk /dev/jackal
adamanov commented 2 years ago

Sorry to hear you're having problems with your Jackal! Can you please run a couple of quick tests to help diagnose the issue?

1. Verify that the low-level messages are being received by the kernel:
sudo apt-get install jstest-gtk
jstest /dev/input/ps4

You should see a stream of output indicating the states of the buttons and axes. If you do not, then this would indicate that there could be a problem with the ds4drv driver we use for the PS4 controllers.

2. Verify that the `bluetooth_teleop/joy` node is publishing correctly:
sudo systemctl restart ros
rostopic echo /bluetooth_teleop/joy

Again, make sure that button presses and joystick motions are reflected properly in the output. Also take note of the indices of the vertical & horizontal axes of the left stick and the indices of the left & right shoulder buttons. The ROS driver specifies the indices for the deadman switches & control axes, so if these have changed as a result of the kernel update you may need to remap the controls.

3. Make sure the motor controller itself is working:
rostopic pub /cmd_vel geometry_msgs/Twist "linear:
  x: 0.1
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0" -r 10

This will drive the robot forwards at 10cm/s, so make sure the robot is on blocks or has a clear path forwards. Cancelling will stop the robot. If the robot doesn't move at all then there may be a problem with the communication between the PC and the MCU, or between the MCU and the motors. Either is unrelated to the bluetooth controller.

4. Verify that `bluetooth_teleop/cmd_vel` is publishing correctly:
rostopic echo /bluetooth_teleop/cmd_vel

Hold down the left shoulder button and move the left thumb stick. You should see the Linear X and Angular Z parameters changing. As with the previous test, the robot should move during this procedure, so make sure it's not going to run into anything.

Some additional output that will be helpful for diagnosing possible MCU issues:

rostopic echo /status
ls -l /dev
groups
sudo udevadm info --attribute-walk /dev/jackal

Hello, thank you for your quick response.

I went today to Lab to test your proposed solutions. But after turning on the jackal, he started moving like nothing happened :) We assume that it had some issue with MCU, but hope it will not pup up again

Thanks again, all best