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joshnewans / diffdrive_arduino

A simple ROS Control Hardware Interface for differential drive control of robot whose motors are connected via an Arduino (or similar microcontroller).
BSD 3-Clause "New" or "Revised" License
84 stars 107 forks source link

REGARDING TELEOP IN REAL ROBOT #3

Open randy0011x opened 1 year ago

randy0011x commented 1 year ago

Hello sir, I have been following your videos for my project sequentially. I have a small snag. In simulation, the ros2_control teleop works perfectly and both gazebo and rviz responds accordingly, but in the real robot, "THE TELEOP WORKS PERFECTLY IN REAL ROBOT BUT THE RVIZ RECEIVES WRONG TF, I.E IF I PRESS 'I', THE REAL ROBOT MOVES FORWARD BUT IN THE RVIZ, IT ROTATES COUNTER CLOCKWISE, SIMILARLY IF I PRESS 'J', THE REAL ROBOT ROTATES BUT IN THE RVIZ. " I have even cloned your repository in a new workspace for verification but the rviz still dosen't respond properly to my teleop command. I have cross verified my TF in robot_core.xacro, ros2_control.xacro, and my_controllers.yaml code.I kindly request you to share your insights in this regard.

Thanks in advance

Buzzology commented 1 year ago

Hey @randy0011x , just double check your encoders/odom are correct. If you've got the wires or pins around the wrong way you'll see that. I have these notes from one of Josh's good videos on it:

- List connected usb devices: `lsusb` or `ls /dev/ttyUSB*`
  - `QinHeng Electronics HL-340 USB-Serial adapter` is arduino  
- Use miniterm to send messages via serial to arduino:
  - Start miniterm: `miniterm -e /dev/ttyUSB0 57600`
    - Could be this if you're using a newer version: `pyserial-miniterm -e /dev/ttyUSB0 57600`
  - See current encoder count: `e`
  - Start motor full speed: `o 255 255`
  - Start motor half speed: `o 127 127` 
  - Reset encoder count: `r`

I did a quick post when I hit the same thing: https://whatibroke.com/2022/12/29/wheel-going-in-the-wrong-direction-rviz2-and-foxglove/

randy0011x commented 1 year ago

Thank you for your response, I will check it out

On Tue, 28 Mar 2023, 2:33 pm Chris Owens, @.***> wrote:

Hey @randy0011x https://github.com/randy0011x , just double check your encoders/odom are correct. If you've got the wires or pins around the wrong way you'll see that. I have these notes from one of Josh's good videos on it:

  • List connected usb devices: lsusb or ls /dev/ttyUSB*
    • QinHeng Electronics HL-340 USB-Serial adapter is arduino
  • Use miniterm to send messages via serial to arduino:
    • Start miniterm: miniterm -e /dev/ttyUSB0 57600
    • This could be this if you're using a newer version: pyserial-miniterm -e /dev/ttyUSB0 57600
    • See current encoder count: e
    • Start motor full speed: o 255 255
    • Start motor half speed: o 127 127
    • Reset encoder count: r

I did a quick post when I hit the same thing: https://whatibroke.com/2022/12/29/wheel-going-in-the-wrong-direction-rviz2-and-foxglove/

— Reply to this email directly, view it on GitHub https://github.com/joshnewans/diffdrive_arduino/issues/3#issuecomment-1486481682, or unsubscribe https://github.com/notifications/unsubscribe-auth/AQMBGX56I5C22RYU43VNVGLW6KSNTANCNFSM6AAAAAAWJ5WGYA . You are receiving this because you were mentioned.Message ID: @.***>

randy0011x commented 1 year ago

Good day sir, thankyou very much for your assistance, my rviz is responding accordingly to the teleop. I have another question regarding mapping using SLAM toolbox online async. As I try to generate map in rviz, the robot keeps jumping around and hence the area size increases which in result generates noisy map. I have subscribed to map topic in fixed frame and because of this behaviour, it generates noisy map. I kindly request you to guide me in this regard.

Thank you

On Tue, 28 Mar 2023, 2:41 pm Ramanarayanan Balasubramanian, < @.***> wrote:

Thank you for your response, I will check it out

On Tue, 28 Mar 2023, 2:33 pm Chris Owens, @.***> wrote:

Hey @randy0011x https://github.com/randy0011x , just double check your encoders/odom are correct. If you've got the wires or pins around the wrong way you'll see that. I have these notes from one of Josh's good videos on it:

  • List connected usb devices: lsusb or ls /dev/ttyUSB*
    • QinHeng Electronics HL-340 USB-Serial adapter is arduino
  • Use miniterm to send messages via serial to arduino:
    • Start miniterm: miniterm -e /dev/ttyUSB0 57600
    • This could be this if you're using a newer version: pyserial-miniterm -e /dev/ttyUSB0 57600
    • See current encoder count: e
    • Start motor full speed: o 255 255
    • Start motor half speed: o 127 127
    • Reset encoder count: r

I did a quick post when I hit the same thing: https://whatibroke.com/2022/12/29/wheel-going-in-the-wrong-direction-rviz2-and-foxglove/

— Reply to this email directly, view it on GitHub https://github.com/joshnewans/diffdrive_arduino/issues/3#issuecomment-1486481682, or unsubscribe https://github.com/notifications/unsubscribe-auth/AQMBGX56I5C22RYU43VNVGLW6KSNTANCNFSM6AAAAAAWJ5WGYA . You are receiving this because you were mentioned.Message ID: @.***>

NDL200201 commented 1 year ago

@randy0011x @Buzzology Hi, I installed diffdrive_arduino of GitHub - Buzzology/diffdrive_arduino: A simple ROS Control Hardware Interface for differential drive control of robot whose motors are connected via an Arduino (or similar microcontroller).. I can run teleop_twist_keyboard to drive my around. My motors can work. But when I open rviz2 for tracking, when I press some letters ‘i’ and ‘m’ on the keyboard, the robot runs circle around base_link , doesn’t go straight ( forward and backward). I installed ROS2 HUMBLE. Can you help me, plz?