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smd-ros-devel / kangaroo_x2_driver

ROS Driver for the Dimension Engineering Kangaroo x2 Motion Controller
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[Solved] Mixed mode: Error "Failed to read from serial" "Failed to get the header" #4

Open limjizhengshawn opened 9 years ago

limjizhengshawn commented 9 years ago

Hi,

I am having an issue regarding the connection to the kangaroo.

This is my setup: My kangaroo is set up as per instructions and baud is set to 38400. Connection to the RPi is through the Delink2. Parameters passed to the kangaroo node are as follows: ch1_joint_name: "D" ch2_joint_name: "T" port: "/dev/ttyACM0" The joint names are based on the Drive and Turn tuning of the Kangaroo.

When I start the node, I am able to connect to the port but after that I receive these 2 messages:

Failed to read from the serial. Failed to get the header.

May I know what I'm doing wrong?

limjizhengshawn commented 9 years ago

Ok, I've realised that changing the value of ch1_joint_name and ch2_joint_name is not sufficient. The kangaroo_driver.cpp has to be modified in this way:

find all '1' and '2' replace with 'D' and 'T' respectively

The sending of commands does not dynamically change wrt the passed parameters.