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sbrodeur / ros-icreate-bbb

ROS (Robotic Operating System) packages for the iRobot Create with onboard BeagleBone Black
BSD 3-Clause "New" or "Revised" License
3 stars 2 forks source link

Increase the sampling rate of the joystick for remote control #32

Closed sbrodeur closed 7 years ago

sbrodeur commented 7 years ago

The rate set at the behavior controller seems to be 7 Hz. This is a little low and could be increased.

sbrodeur commented 7 years ago

The joystick seems to disconnect when starting the roslaunch file:

[11807.520437] usb 1-1.4: USB disconnect, device number 34
[11807.521133] xpad 1-1.4:1.2: xpad_irq_in - usb_submit_urb failed with result -19
[11807.530237] xpad 1-1.4:1.4: xpad_irq_in - usb_submit_urb failed with result -19
[11807.539069] xpad 1-1.4:1.6: xpad_irq_in - usb_submit_urb failed with result -19
[11991.694815] l3gd20_gyr 2-006b: power off
[11994.652811] usb 1-1.4: new full-speed USB device number 35 using musb-hdrc
[11994.777445] usb 1-1.4: New USB device found, idVendor=045e, idProduct=0719
[11994.777464] usb 1-1.4: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[11994.777473] usb 1-1.4: Product: Xbox 360 Wireless Receiver for Windows
[11994.777481] usb 1-1.4: Manufacturer: ©Microsoft
[11994.777489] usb 1-1.4: SerialNumber: FF958890
[11994.782188] input: Xbox 360 Wireless Receiver as /devices/platform/ocp/47400000.usb/47401c00.usb/musb-hdrc.1.auto/usb1/1-1/1-1.4/1-1.4:1.0/input/input77
[11994.788060] input: Xbox 360 Wireless Receiver as /devices/platform/ocp/47400000.usb/47401c00.usb/musb-hdrc.1.auto/usb1/1-1/1-1.4/1-1.4:1.2/input/input78
[11994.790116] input: Xbox 360 Wireless Receiver as /devices/platform/ocp/47400000.usb/47401c00.usb/musb-hdrc.1.auto/usb1/1-1/1-1.4/1-1.4:1.4/input/input79
[11994.796232] input: Xbox 360 Wireless Receiver as /devices/platform/ocp/47400000.usb/47401c00.usb/musb-hdrc.1.auto/usb1/1-1/1-1.4/1-1.4:1.6/input/input80

Maybe we need a more updated xpad driver?

sbrodeur commented 7 years ago

It appears the Xbox 360 Wireless Receiver is very sensible to high loads (USB bus or CPU), and automatically disconnects in such case. I have also tried the xboxdrv userspace driver (and blacklisted xpad), which seems a little more stable for a while but failed eventually during recording. At the end, the generic wired USB joystick was the most stable.

sbrodeur commented 7 years ago

See commit 10e4455 for a more efficient joystick implementation (stateless) that doesn't require subscribing to the robot topics for manual control. Also with the optimization in message publishing to be done in #31, the load on the CPU will be greatly reduced and this should avoid having errors as below due to bad interrupt handling.