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segwayrmp / libsegwayrmp

This is an Interface for Segway's Robotic Mobile Platforms (RMP's).
http://segwayrmp.github.com/libsegwayrmp/
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How to configure 'segway_rmp' package with 'libsegwayrmp'? #13

Open GDUT-BIRL opened 9 years ago

GDUT-BIRL commented 9 years ago

I have got some 'CMake' errors when I make the 'segway_rmp' package in the catkin workspace.Actually,I have no ideas about the usage of the 'libsegwayrmp'.

piyushk commented 9 years ago

@GDUT-BIRL Could you post some of the errors you received? Did you have ros--libsegwayrmp installed?

GDUT-BIRL commented 9 years ago

Hi,piyushk.I cloned the libsegwayrmp to my home folder and installed it by the way of the site --http://segwayrmp.github.com/libsegwayrmp/,but I got the error --Could not find a configuration file for package serial.--when I made the segway_rmp package.That means I have no serial package!So,I cloned the packge to my catkin_ws/src folder from https://github.com/wjwwood/serial.git and made it.I compiled the segway_rmp package again and it was OK!But,I got some erros again when I run the segway_node connected to segway RMP400:

[ INFO] [1422239713.376942157]: Accel limits: linear: pos = 0.000000, neg = 0.000000, angular: pos = 0.000000, neg = 0.000000. [ INFO] [1422239713.377865027]: Velocity limits: linear: 0.000000, angular: 0.000000. [ INFO] [1422239713.379582598]: Connecting to Segway RMP via serial on serial port: /dev/ttyUSB1 [ERROR] [1422239713.382755563]: Exception while connecting to the SegwayRMP, check your cables and power buttons. [ERROR] [1422239713.382926779]: ConnectionFailedException occurred at line 36 of /home/birl/catkin_ws/build/libsegwayrmp/src/impl/rmp_serial.cc: `Error connecting to the SegwayRMP: IO Exception (2): No such file or directory, file /home/birl/catkin_ws/src/serial/src/impl/unix.cc, line 151. [ WARN] [1422239713.383073100]: Not connected to the SegwayRMP, will retry in 5 seconds... process[rear/segway_node-6]: started with pid [7612]

[ INFO] [1422239713.437080600]: Accel limits: linear: pos = 0.000000, neg = 0.000000, angular: pos = 0.000000, neg = 0.000000. [ INFO] [1422239713.438527732]: Velocity limits: linear: 0.000000, angular: 0.000000. [ INFO] [1422239713.440385603]: Connecting to Segway RMP via serial on serial port: /dev/ttyUSB0 [ERROR] [1422239713.449249490]: Exception while connecting to the SegwayRMP, check your cables and power buttons. [ERROR] [1422239713.449502861]: ConnectionFailedException occurred at line 36 of /home/birl/catkin_ws/build/libsegwayrmp/src/impl/rmp_serial.cc: Error connecting to the SegwayRMP: IO Exception (2): No such file or directory, file /home/birl/catkin_ws/src/serial/src/impl/unix.cc, line 151. [ WARN] [1422239713.449698566]: Not connected to the SegwayRMP, will retry in 5 seconds...

Actually,I connect to Segway RMP400 with two USB cables.I trid to use the usb as the parameter of the funtion getParameters() in segway_node.cpp,but I always got the error --FT_DEVICE_NOT_FOUND--. And I have ever successfully controlled the RMP400 with segway_rmp package configured with just libsegwayrp,that means no serial package and the errors about serial.But now,I have to reconfigure these packages because the PC was broken.

GDUT-BIRL commented 9 years ago

I received some infomation when I run the segwayrmp_gui(connected to RMP400 with two USB cables): ~ birl@birl-E400:~$ segwayrmp_gui libusb couldn't open USB device /dev/bus/usb/003/024: Permission denied. libusb requires write access to USB device nodes. libusb couldn't open USB device /dev/bus/usb/003/025: Permission denied. libusb requires write access to USB device nodes. libusb couldn't open USB device /dev/bus/usb/003/024: Permission denied. libusb requires write access to USB device nodes. libusb couldn't open USB device /dev/bus/usb/003/025: Permission denied. libusb requires write access to USB device nodes. ~ So,I guess I didn't install the driver successfully.