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nasa-jpl / open-source-rover

A build-it-yourself, 6-wheel rover based on the rovers on Mars!
https://open-source-rover.readthedocs.io
Apache License 2.0
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Discrepancy in Roboclaw setup vs configuration in config #447

Closed ericjunkins closed 9 months ago

ericjunkins commented 10 months ago

The instructions and wiring say that the following should be how it is setup/built:

RC1

Address : 128 M1: Front Left M2: Middle Left

RC2

Address: 129 M1: Back Right M2: Back Left

Address: 130 M1: Front Right M2: Middle Right

However that is not what the params file says in the code.

https://github.com/nasa-jpl/osr-rover-code/blob/master/ROS/osr_bringup/config/roboclaw_params.yaml.

image

Achllle commented 10 months ago

Can you link to the parts of the instructions and wiring that you're referring to specifically? The wiring README doesn't deal with roboclaws, it's just instructions for how to make the wires themselves.

ericjunkins commented 10 months ago

image I was going with what's on the board, which I have verified is correctly connected to where it says it is on the PCB

Achllle commented 10 months ago

Woops, looks like I've been pluggin in my cables for the front right motor in the back right and vice versa. Even though I labeled them correctly :1st_place_medal: Just to verify: the fix you're expecting is to just flip the addresses of drive_right_back and drive_right_front in roboclaw_params.yaml?

ericjunkins commented 10 months ago

Yes that is my plan to just fix the config to match the PCB