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ros-drivers / phidgets_drivers

ROS drivers for various Phidgets devices
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Drivers issues with older version of Phidgets #164

Closed CAPlevel closed 1 year ago

CAPlevel commented 1 year ago

I have been using Phidgets for years. I build a robot based on Phidgets & Flowbotics. I decided to move to ROS2, and I saw as a blessing to have the drivers for Ros and Phidget. unfortunately, since my boards are the older version and don't support some commands. most of the test I try to make launch an error since some functions are not supported, even do i don't need it for my project. I updated the files to the latest, but every driver I tested, expect some of the new functions on my boards and abort. For Example:

1064 Motor controller:

[component_container-1] [ERROR] [1679238490.289006300] [phidgets_motors]: Motors: Failed to set braking strength for Motor channel 0: Operation Not Supported.

Similar problems with 1018 Analog input: [phidgets_analog_inputs]: AnalogInputs: Failed to set analog input voltage range: Operation Not Supported [component_container-1] [ERROR] [1679409297.142145890]

it seems to me this ROS driver does not support older Phidget 1064 and older Phidget 1018, I haven't try other boards.

Do you have a version of the ROS driver for older boards? Is frustrating having those drivers, I'll need to re-write all containers or create new node.

I appreciate your help and Advise if there is other workaround for this issues.

best regards,

Haroldo Level

**** LAUNCH COPY of the 1064 MOTOR CONTROLLER **** aroldo@haroldo-desktop:~$ ros2 launch phidgets_motors motors-launch.py [INFO] [launch]: All log files can be found below /home/haroldo/.ros/log/2023-03-19-11-08-07-878521-haroldo-desktop-3935 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [component_container-1]: process started with pid [3949] [component_container-1] [INFO] [1679238489.640349975] [phidget_container]: Load Library: /opt/ros/humble/lib/libphidgets_motors.so [component_container-1] [INFO] [1679238489.712897581] [phidget_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-1] [INFO] [1679238489.713108207] [phidget_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container-1] [INFO] [1679238489.731637991] [phidgets_motors]: Starting Phidgets Motors [component_container-1] [INFO] [1679238489.732044040] [phidgets_motors]: Connecting to Phidgets Motors serial -1, hub port 0 ... [component_container-1] [INFO] [1679238490.275097290] [phidgets_motors]: Connected to serial 100346, 2 motors [component_container-1] [INFO] [1679238490.288302534] [phidgets_motors]: Back EMF sensing not supported for motor_back_emf00 [component_container-1] [ERROR] [1679238490.289006300] [phidgets_motors]: Motors: Failed to set braking strength for Motor channel 0: Operation Not Supported [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'phidgets_motors' of type 'phidgets::MotorsRosI' in container '/phidget_container': Component constructor threw an exception: Failed to set braking strength for Motor channel 0: Operation Not Supported [component_container-1] [ERROR] [1679238490.349020564] [phidget_container]: Component constructor threw an exception: Failed to set braking strength for Motor channel 0: Operation Not Supported

**** LAUNCH COPY of the 1018 analog inputs board ****

haroldo@haroldo-desktop:~$ ros2 launch phidgets_analog_inputs analog_inputs-launch.py [INFO] [launch]: All log files can be found below /home/haroldo/.ros/log/2023-03-21-10-34-55-984324-haroldo-desktop-56745 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [component_container-1]: process started with pid [56759] [component_container-1] [INFO] [1679409296.833921271] [phidget_container]: Load Library: /opt/ros/humble/lib/libphidgets_analog_inputs.so [component_container-1] [INFO] [1679409296.852532703] [phidget_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-1] [INFO] [1679409296.852756201] [phidget_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container-1] [INFO] [1679409296.871127248] [phidgets_analog_inputs]: Starting Phidgets AnalogInputs [component_container-1] [INFO] [1679409296.871527410] [phidgets_analog_inputs]: Connecting to Phidgets AnalogInputs serial -1, hub port 0 ... [component_container-1] [ERROR] [1679409297.130465748] [phidgets_analog_inputs]: AnalogInputs: Failed to set analog input voltage range: Operation Not Supported [component_container-1] [ERROR] [1679409297.142145890] [phidget_container]: Component constructor threw an exception: Failed to set analog input voltage range: Operation Not Supported [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'phidgets_analog_inputs' of type 'phidgets::AnalogInputsRosI' in container '/phidget_container': Component constructor threw an exception: Failed to set analog input voltage range: Operation Not Supported

^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [component_container-1] [INFO] [1679409325.315882633] [rclcpp]: signal_handler(signum=2) [ERROR] [component_container-1]: process has died [pid 56759, exit code -11, cmd '/opt/ros/humble/lib/rclcpp_components/component_container --ros-args -r __node:=phidget_container -r __ns:=/']. haroldo@haroldo-desktop:~$

clalancette commented 1 year ago

In short, if these are optional things then I think it would be OK to catch the exceptions and continue on. For instance, you could put a try..catch block around https://github.com/ros-drivers/phidgets_drivers/blob/6974eafd1315a7c958f1970ca44b26a622bdd14c/phidgets_motors/src/motors_ros_i.cpp#L118 , and handle the Phidgets22Exception that gets thrown, and go on.

CAPlevel commented 1 year ago

Thanks for your fast response. I can try that. Do you have a link to help me how to compile the new files.cpp so it can be used by the command?

Thanks

Haroldo Level

On Tue, Mar 21, 2023, 11:57 AM Chris Lalancette @.***> wrote:

In short, if these are optional things then I think it would be OK to catch the exceptions and continue on. For instance, you could put a try..catch block around https://github.com/ros-drivers/phidgets_drivers/blob/6974eafd1315a7c958f1970ca44b26a622bdd14c/phidgets_motors/src/motors_ros_i.cpp#L118 , and handle the Phidgets22Exception that gets thrown, and go on.

— Reply to this email directly, view it on GitHub https://github.com/ros-drivers/phidgets_drivers/issues/164#issuecomment-1478101141, or unsubscribe https://github.com/notifications/unsubscribe-auth/AMLPQNP4FIV4LCQIFKZT6DTW5HFX3ANCNFSM6AAAAAAWCRYJXY . You are receiving this because you authored the thread.Message ID: @.***>

clalancette commented 1 year ago

You can follow the general advice at http://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html to create a workspace with phidgets_drivers in it, and go from there.