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sbgisen / vesc

VESC Interface for ROS
Apache License 2.0
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VESC Not working fully with jetson TX2 #10

Closed areebsh1 closed 3 years ago

areebsh1 commented 4 years ago

Hi there, I m building RC car considering the all the steps in F1tenth. Furthermore, I used your vesc package. Actually, I m facing the following problem and I will be great to help me

When I m connecting VESC directly to my laptop( also ubuntu 18.04) and running VESC driver node and publishing speed parameter as: rostopic pub -r 10 /commands/motor/speed std_msgs/Float64 "data: -2000.0" , it looks every thing fine and the car driving backwards. Also, it drives forwards in case of publishing 2000.0 instead of -2000.0, no problem with that.

However, When I m connecting VESC directly to Jetson and running VESC driver node and publishing speed parameter as: rostopic pub -r 10 /commands/motor/speed std_msgs/Float64 "data: -2000.0", the car does not drive backwards. But it drives forwards in case of publishing 2000.0 instead of -2000.0

Any suggestion about why I can turn the motor in the backwards direction in the situation VESC connected to laptop, while I fail to do so when VESC connecting to Jeston? why Jetson does not react to -2000.0 while it reacts to 2000.0?

I m using the following tools:

  1. Jetson TX2 flashed with jetpack 4.4 (ubuntu 18.04).
  2. VESC MKIV
  3. Traxxas Velineon motor
ssr-yuki commented 4 years ago

Thank you for reporting. Sorry, I have no idea to solve the problem immediately.

If you have time, please try following:

If the factor of the problem lies on this packages, some undefined behaviours cause it just on Jetson architecture, I think. More information is needed.

Tassel97 commented 3 years ago

Hi, the following method may help. in file vesc_driver/src/vesc_packet.cpp line 413 change uint32_t v = static_cast(getRpm); to int32_t v = static_cast(getRpm);