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zauberzeug / field_friend

A Development Platform for Autonomous Weeding.
https://feldfreund.de
MIT License
10 stars 3 forks source link

Robot turns on spot #119

Closed pascalzauberzeug closed 4 weeks ago

pascalzauberzeug commented 1 month ago

The robot still turns on spot without moving forwards when using the straight line navigation. Tested with F13/RB36 on https://github.com/zauberzeug/field_friend/pull/96, but I don't think it is related to the changes done there.

1000003070

Screenshot 2024-07-16 at 15-46-57 Field Friend

rosys_1       | 2024-07-16 15:39:37.586 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-16 15:39:37.690 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-16 15:39:37.791 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-16 15:39:37.891 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-16 15:39:37.992 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-16 15:39:38.092 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-16 15:39:38.196 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-16 15:39:38.296 [INFO] field_friend/hardware/tornado.py:242: Ref ground not triggered: Bottom ground reached
rosys_1       | 2024-07-16 15:39:38.297 [INFO] field_friend/hardware/tornado.py:251: finalizing moving z axis down
rosys_1       | 2024-07-16 15:39:46.723 [INFO] field_friend/hardware/tornado.py:207: moving z axis to 0
rosys_1       | 2024-07-16 15:39:49.051 [INFO] field_friend/hardware/tornado.py:212: z axis moved to 0
rosys_1       | 2024-07-16 15:39:52.971 [INFO] field_friend/automations/puncher.py:105: punched at -0.02 with depth 0.01, now back to rest position "reference"
rosys_1       | 2024-07-16 15:39:52.972 [INFO] field_friend/automations/implements/weeding_implement.py:91: workflow completed
rosys_1       | 2024-07-16 15:39:52.973 [INFO] field_friend/automations/implements/weeding_implement.py:154: Moved weed 57f77f9c-5fcb-498c-9793-8393e65d7486 from Point(0.13, -0.03) to Point(0.13, -0.03) by 0.004740341087867542 to safe 9a78e552-4615-4daa-894c-3a818fbc6316 at Point(0.13, 0.0)
rosys_1       | 2024-07-16 15:39:52.974 [INFO] field_friend/automations/implements/tornado.py:64: Skipping weed because it was already punched
rosys_1       | 2024-07-16 15:39:53.586 [INFO] field_friend/automations/implements/weeding_implement.py:154: Moved weed 57f77f9c-5fcb-498c-9793-8393e65d7486 from Point(0.12, -0.03) to Point(0.12, -0.03) by 0.004740484667725961 to safe 9a78e552-4615-4daa-894c-3a818fbc6316 at Point(0.11, 0.0)
rosys_1       | 2024-07-16 15:39:53.587 [INFO] field_friend/automations/implements/tornado.py:64: Skipping weed because it was already punched
rosys_1       | 2024-07-16 15:39:54.003 [INFO] field_friend/automations/implements/weeding_implement.py:154: Moved weed 57f77f9c-5fcb-498c-9793-8393e65d7486 from Point(0.1, -0.02) to Point(0.1, -0.03) by 0.005229677636585651 to safe 9a78e552-4615-4daa-894c-3a818fbc6316 at Point(0.09, 0.0)
rosys_1       | 2024-07-16 15:39:54.004 [INFO] field_friend/automations/implements/tornado.py:82: Targeting crop 9a78e552-4615-4daa-894c-3a818fbc6316 which is 0.08091422189536067 away at world: Point(-0.36, -2.78), local: Point(0.09, 0.0)
rosys_1       | 2024-07-16 15:39:54.511 [INFO] field_friend/automations/implements/weeding_implement.py:154: Moved weed 57f77f9c-5fcb-498c-9793-8393e65d7486 from Point(0.08, -0.03) to Point(0.08, -0.03) by 0.005571287367279465 to safe 9a78e552-4615-4daa-894c-3a818fbc6316 at Point(0.08, 0.0)
rosys_1       | 2024-07-16 15:39:54.512 [INFO] field_friend/automations/implements/tornado.py:82: Targeting crop 9a78e552-4615-4daa-894c-3a818fbc6316 which is 0.06432214687245745 away at world: Point(-0.36, -2.78), local: Point(0.08, 0.0)
rosys_1       | 2024-07-16 15:39:54.918 [INFO] field_friend/automations/implements/weeding_implement.py:154: Moved weed 57f77f9c-5fcb-498c-9793-8393e65d7486 from Point(0.06, -0.03) to Point(0.06, -0.03) by 0.00563157202652103 to safe 9a78e552-4615-4daa-894c-3a818fbc6316 at Point(0.06, 0.0)
rosys_1       | 2024-07-16 15:39:54.919 [INFO] field_friend/automations/implements/tornado.py:82: Targeting crop 9a78e552-4615-4daa-894c-3a818fbc6316 which is 0.04452849722041616 away at world: Point(-0.36, -2.79), local: Point(0.06, 0.0)
rosys_1       | 2024-07-16 15:39:57.442 [INFO] field_friend/automations/implements/weeding_implement.py:154: Moved weed 57f77f9c-5fcb-498c-9793-8393e65d7486 from Point(0.01, -0.03) to Point(0.01, -0.03) by 0.004958876874267788 to safe 9a78e552-4615-4daa-894c-3a818fbc6316 at Point(0.02, 0.0)
rosys_1       | 2024-07-16 15:39:57.443 [INFO] field_friend/automations/implements/tornado.py:26: Performing Tornado Workflow..
rosys_1       | 2024-07-16 15:39:57.443 [INFO] field_friend/automations/implements/tornado.py:32: Drilling crop at Point(-0.35, -2.78) with angle 30.0°
rosys_1       | 2024-07-16 15:39:57.444 [INFO] field_friend/automations/puncher.py:67: Punching at 0.0038732758021282994 with depth 0.01...
rosys_1       | 2024-07-16 15:39:57.444 [INFO] field_friend/hardware/y_axis.py:47: moving yaxis to 0.0038732758021282994 with speed 500
rosys_1       | 2024-07-16 15:39:57.444 [INFO] field_friend/hardware/y_axis_canopen_hardware.py:76: moving to steps: 105738
rosys_1       | 2024-07-16 15:39:59.352 [INFO] field_friend/hardware/y_axis_canopen_hardware.py:89: yaxis moved to 0.0038732758021282994
rosys_1       | 2024-07-16 15:39:59.353 [INFO] field_friend/automations/puncher.py:163: Drilling with tornado at 30.0°...
rosys_1       | 2024-07-16 15:39:59.353 [INFO] field_friend/hardware/tornado.py:220: moving z axis down
rosys_1       | 2024-07-16 15:40:00.356 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-16 15:40:00.458 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-16 15:40:00.559 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-16 15:40:00.660 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-16 15:40:00.763 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-16 15:40:00.864 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-16 15:40:00.977 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-16 15:40:01.078 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-16 15:40:01.178 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-16 15:40:01.280 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-16 15:40:01.380 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-16 15:40:01.481 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-16 15:40:01.581 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-16 15:40:01.683 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-16 15:40:01.784 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-16 15:40:01.885 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-16 15:40:01.985 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-16 15:40:02.085 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-16 15:40:02.185 [INFO] field_friend/hardware/tornado.py:242: Ref ground not triggered: Bottom ground reached
rosys_1       | 2024-07-16 15:40:02.185 [INFO] field_friend/hardware/tornado.py:251: finalizing moving z axis down
rosys_1       | 2024-07-16 15:40:10.556 [INFO] field_friend/hardware/tornado.py:207: moving z axis to 0
rosys_1       | 2024-07-16 15:40:12.862 [INFO] field_friend/hardware/tornado.py:212: z axis moved to 0
rosys_1       | 2024-07-16 15:40:13.872 [WARNING] rosys/rosys.py:232: less than 300 mb of memory remaining -> start garbage collection
rosys_1       | 2024-07-16 15:40:14.245 [INFO] field_friend/localization/gnss_hardware.py:102: Parse error: ('could not parse data', '$')
rosys_1       | 2024-07-16 15:40:14.246 [WARNING] field_friend/localization/gnss_hardware.py:109: No location in GNSS data -- maybe it was provided in GGA message?
rosys_1       | 2024-07-16 15:40:14.247 [WARNING] field_friend/localization/gnss.py:94: new GNSS record is None
rosys_1       | 2024-07-16 15:40:14.247 [INFO] field_friend/automations/automation_watcher.py:62: not pausing automation because GNSS connection lost but GNSS watch is not active
rosys_1       | 2024-07-16 15:40:15.233 [WARNING] rosys/rosys.py:235: finished garbage collection
rosys_1       | 2024-07-16 15:40:16.679 [INFO] field_friend/automations/puncher.py:105: punched at 0.00 with depth 0.01, now back to rest position "reference"
rosys_1       | 2024-07-16 15:40:16.680 [INFO] field_friend/automations/implements/weeding_implement.py:91: workflow completed
rosys_1       | 2024-07-16 15:40:16.681 [INFO] field_friend/automations/implements/weeding_implement.py:154: Moved weed 57f77f9c-5fcb-498c-9793-8393e65d7486 from Point(0.0, -0.03) to Point(0.0, -0.03) by 0.006885315488495594 to safe 9a78e552-4615-4daa-894c-3a818fbc6316 at Point(0.0, 0.0)
rosys_1       | 2024-07-16 15:40:16.682 [INFO] field_friend/automations/implements/tornado.py:64: Skipping weed because it was already punched
rosys_1       | 2024-07-16 15:40:17.591 [INFO] field_friend/automations/implements/tornado.py:70: Closest crop is out of working area
rosys_1       | 2024-07-16 15:40:24.643 [WARNING] rosys/hardware/estop.py:56: E-Stop [0] changed
LukasBaecker commented 1 month ago

Same happened in Follow Crop Mode with new setting as you can see in #103


rosys_1       | 2024-07-16 17:19:14.690 [INFO] rosys/vision/mjpeg_camera/mjpeg_camera_provider.py:90: activating camera "b8:a4:4f:a9:43:1f-1" at ip "192.168.42.3" ...
rosys_1       | 2024-07-16 17:19:14.691 [INFO] rosys/vision/mjpeg_camera/mjpeg_camera_provider.py:90: activating camera "b8:a4:4f:a9:43:1f-2" at ip "192.168.42.3" ...
rosys_1       | 2024-07-16 17:19:14.691 [INFO] rosys/vision/mjpeg_camera/mjpeg_camera_provider.py:90: activating camera "b8:a4:4f:a9:43:1f-3" at ip "192.168.42.3" ...
rosys_1       | 2024-07-16 17:19:14.692 [INFO] rosys/vision/mjpeg_camera/mjpeg_camera_provider.py:90: activating camera "b8:a4:4f:a9:43:1f-4" at ip "192.168.42.3" ...
rosys_1       | 2024-07-16 17:19:14.692 [INFO] rosys/vision/mjpeg_camera/mjpeg_device.py:44: Capturing images from http://192.168.42.3/axis-cgi/mjpg/video.cgi?camera=1
rosys_1       | 2024-07-16 17:19:14.707 [INFO] rosys/vision/mjpeg_camera/mjpeg_device.py:44: Capturing images from http://192.168.42.3/axis-cgi/mjpg/video.cgi?camera=2
rosys_1       | 2024-07-16 17:19:14.720 [INFO] rosys/vision/mjpeg_camera/mjpeg_device.py:44: Capturing images from http://192.168.42.3/axis-cgi/mjpg/video.cgi?camera=3
rosys_1       | 2024-07-16 17:19:14.732 [INFO] rosys/vision/mjpeg_camera/mjpeg_device.py:44: Capturing images from http://192.168.42.3/axis-cgi/mjpg/video.cgi?camera=4
rosys_1       | 2024-07-16 17:19:15.817 [WARNING] rosys/vision/detector_hardware.py:35: sio connect error on 8004: Connection refused by the server
rosys_1       | 2024-07-16 17:19:15.817 [ERROR] rosys/vision/detector_hardware.py:47: connection to f7797a9f-5244-4b2b-b23b-b8b6e7681cf7 at port 8004 failed; trying again
rosys_1       | 2024-07-16 17:19:17.515 [INFO] field_friend/vision/camera_configurator.py:27: updating camera config
rosys_1       | 2024-07-16 17:19:17.537 [INFO] rosys/hardware/battery_control.py:28: releasing battery relay
rosys_1       | 2024-07-16 17:19:18.517 [INFO] field_friend/vision/camera_configurator.py:36: camera: 32e4-9230-platform-3610000.xhci-usb-0:2.3:1.0 is active
rosys_1       | 2024-07-16 17:19:18.518 [INFO] field_friend/vision/camera_configurator.py:46: parameter width with value 1280
rosys_1       | 2024-07-16 17:19:18.518 [INFO] field_friend/vision/camera_configurator.py:46: parameter height with value 720
rosys_1       | 2024-07-16 17:19:18.518 [INFO] field_friend/vision/camera_configurator.py:46: parameter auto_exposure with value True
rosys_1       | 2024-07-16 17:19:18.519 [INFO] field_friend/vision/camera_configurator.py:46: parameter fps with value 10
rosys_1       | 2024-07-16 17:19:18.519 [INFO] field_friend/vision/camera_configurator.py:48: 9 != 10
rosys_1       | 2024-07-16 17:19:18.519 [INFO] field_friend/vision/camera_configurator.py:98: Updated camera 32e4-9230-platform-3610000.xhci-usb-0:2.3:1.0 parameters, requesting backup...
rosys_1       | 2024-07-16 17:19:18.818 [INFO] rosys/vision/detector_hardware.py:45: trying reconnect f7797a9f-5244-4b2b-b23b-b8b6e7681cf7
rosys_1       | 2024-07-16 17:19:18.819 [INFO] rosys/vision/detector_hardware.py:57: connecting to detector at ws://localhost:8004
rosys_1       | 2024-07-16 17:19:18.843 [INFO] rosys/vision/detector_hardware.py:59: connected successfully
rosys_1       | 2024-07-16 17:19:22.507 [INFO] field_friend/vision/calibratable_usb_camera_provider.py:24: backing up camera: {'id': '32e4-9230-platform-3610000.xhci-usb-0:2.1:1.0', 'name': '32e4-9230-platform-3610000.xhci-usb-0:2.1:1.0', 'connect_after_init': True, 'streaming': False, 'focal_length': 1830, 'calibration': {'intrinsics': {'matrix': [[900.7563580745991, 0.0, 663.0230501520205], [0.0, 904.6425099884107, 301.96771840322316], [0.0, 0.0, 1.0]], 'distortion': [-0.3936727926969431, 0.1910463197137935, 0.004863672318620469, 0.0004754694660314551, -0.04783286390279313], 'rotation': {'R': [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]]}, 'size': {'width': 1280, 'height': 720}}, 'extrinsics': {'rotation': {'R': [[-0.008812065190163532, 0.7845453340130073, -0.6200088437962019], [0.9999610194820463, 0.007257303739787835, -0.005029021659822479], [0.0005540970229195576, -0.620028991597044, -0.7845787038631892]]}, 'translation': [0.2925151857987712, 0.014639470490577467, 0.3090187031839868]}}, 'auto_exposure': True, 'exposure': False, 'width': 1280, 'height': 720, 'fps': 9}
rosys_1       | 2024-07-16 17:19:22.511 [INFO] field_friend/vision/calibratable_usb_camera_provider.py:24: backing up camera: {'id': '32e4-9230-platform-3610000.xhci-usb-0:2.3:1.0', 'name': '32e4-9230-platform-3610000.xhci-usb-0:2.3:1.0', 'connect_after_init': True, 'streaming': True, 'focal_length': 1830, 'calibration': {'intrinsics': {'matrix': [[900.7563580745991, 0.0, 663.0230501520205], [0.0, 904.6425099884107, 301.96771840322316], [0.0, 0.0, 1.0]], 'distortion': [-0.3936727926969431, 0.1910463197137935, 0.004863672318620469, 0.0004754694660314551, -0.04783286390279313], 'rotation': {'R': [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]]}, 'size': {'width': 1280, 'height': 720}}, 'extrinsics': {'rotation': {'R': [[-0.008812065190163532, 0.7845453340130073, -0.6200088437962019], [0.9999610194820463, 0.007257303739787835, -0.005029021659822479], [0.0005540970229195576, -0.620028991597044, -0.7845787038631892]]}, 'translation': [0.2925151857987712, 0.014639470490577467, 0.3090187031839868]}}, 'auto_exposure': True, 'exposure': False, 'width': 1280, 'height': 720, 'fps': 9}
rosys_1       | 2024-07-16 17:19:24.741 [INFO] rosys/rosys.py:69: automation started
rosys_1       | 2024-07-16 17:19:24.743 [INFO] field_friend/automations/navigation/follow_crops_navigation.py:30: Activating Recorder...
rosys_1       | 2024-07-16 17:20:02.570 [WARNING] rosys/rosys.py:232: less than 300 mb of memory remaining -> start garbage collection
rosys_1       | 2024-07-16 17:20:02.959 [INFO] field_friend/localization/gnss_hardware.py:102: Parse error: ('could not parse data', '$')
rosys_1       | 2024-07-16 17:20:02.966 [WARNING] field_friend/localization/gnss_hardware.py:109: No location in GNSS data -- maybe it was provided in GGA message?
rosys_1       | 2024-07-16 17:20:02.967 [WARNING] field_friend/localization/gnss.py:94: new GNSS record is None
rosys_1       | 2024-07-16 17:20:02.967 [INFO] field_friend/automations/automation_watcher.py:62: not pausing automation because GNSS connection lost but GNSS watch is not active
rosys_1       | 2024-07-16 17:20:03.941 [WARNING] rosys/rosys.py:235: finished garbage collection
rosys_1       | 2024-07-16 17:21:00.983 [INFO] rosys/rosys.py:69: automation paused because pause button was pressed```
rodja commented 1 month ago

@pascalzauberzeug is it really happening with "straight line navigation"? With "follow crops" I can imagine how a constellation of crops could lead to such a turn. But with "straight line" I've never experienced it before. If it does happen with "straight line", I think we need much more detailed logging to get to the bottom of this.

Both your logs show new GNSS record is None. Have you picked the logs because of this message or are the logs truly the time where the robot made it turn? To verify the behaviour with lost signal, I created https://github.com/zauberzeug/field_friend/pull/124. It does not turn the robot.

pascalzauberzeug commented 1 month ago

@rodja Yes, I ran F13 only on straight line. The log I posted is just the minute before I pressed the e-stop

pascalzauberzeug commented 1 month ago

Happened again with straight line and tornado on https://github.com/zauberzeug/field_friend/pull/123, so without the new drive_to_yaw changes.

rosys_1       | 2024-07-17 11:15:33.713 [INFO] field_friend/automations/implements/tornado.py:26: Performing Tornado Workflow..
rosys_1       | 2024-07-17 11:15:33.714 [INFO] field_friend/automations/implements/tornado.py:32: Drilling crop at Point(-0.206, -1.993) with angle 30.0°
rosys_1       | 2024-07-17 11:15:33.714 [INFO] field_friend/automations/puncher.py:67: Punching at 0.05288198393953387 with depth 0.01...
rosys_1       | 2024-07-17 11:15:33.714 [INFO] field_friend/hardware/y_axis.py:47: moving yaxis to 0.05288198393953387 with speed 500
rosys_1       | 2024-07-17 11:15:33.715 [INFO] field_friend/hardware/y_axis_canopen_hardware.py:76: moving to steps: 178343
rosys_1       | 2024-07-17 11:15:36.215 [INFO] field_friend/hardware/y_axis_canopen_hardware.py:89: yaxis moved to 0.05288198393953387
rosys_1       | 2024-07-17 11:15:36.216 [INFO] field_friend/automations/puncher.py:163: Drilling with tornado at 30.0°...
rosys_1       | 2024-07-17 11:15:36.216 [INFO] field_friend/hardware/tornado.py:220: moving z axis down
rosys_1       | 2024-07-17 11:15:37.216 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:15:37.316 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:15:37.416 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:15:37.516 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:15:37.617 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:15:37.718 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:15:37.819 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:15:37.919 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:15:38.020 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:15:38.122 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:15:38.223 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:15:38.325 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:15:38.427 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:15:38.528 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:15:38.629 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:15:38.730 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:15:38.831 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:15:38.932 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:15:39.036 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:15:39.136 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:15:39.237 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:15:39.339 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:15:39.440 [INFO] field_friend/hardware/tornado.py:232: minimum position reached
rosys_1       | 2024-07-17 11:15:39.440 [INFO] field_friend/hardware/tornado.py:251: finalizing moving z axis down
rosys_1       | 2024-07-17 11:15:47.764 [INFO] field_friend/hardware/tornado.py:207: moving z axis to 0
rosys_1       | 2024-07-17 11:15:50.576 [INFO] field_friend/hardware/tornado.py:212: z axis moved to 0
rosys_1       | 2024-07-17 11:15:54.597 [INFO] field_friend/automations/puncher.py:105: punched at 0.05 with depth 0.01, now back to rest position "reference"
rosys_1       | 2024-07-17 11:15:54.598 [INFO] field_friend/automations/implements/weeding_implement.py:91: workflow completed
rosys_1       | 2024-07-17 11:15:54.599 [INFO] field_friend/automations/implements/tornado.py:64: Skipping weed because it was already punched
rosys_1       | 2024-07-17 11:15:55.106 [INFO] field_friend/automations/implements/tornado.py:64: Skipping weed because it was already punched
rosys_1       | 2024-07-17 11:16:00.817 [INFO] field_friend/automations/implements/tornado.py:82: Targeting crop 60343ed5-4696-4796-b36a-46e726bc169c which is 0.13936204517838485 away at world: Point(-0.316, -2.375), local: Point(0.152, 0.031)
rosys_1       | 2024-07-17 11:16:01.222 [INFO] field_friend/automations/implements/tornado.py:82: Targeting crop 60343ed5-4696-4796-b36a-46e726bc169c which is 0.12093987346988559 away at world: Point(-0.316, -2.374), local: Point(0.133, 0.030)
rosys_1       | 2024-07-17 11:16:01.637 [INFO] field_friend/automations/implements/tornado.py:82: Targeting crop 60343ed5-4696-4796-b36a-46e726bc169c which is 0.10279972164196935 away at world: Point(-0.315, -2.374), local: Point(0.115, 0.029)
rosys_1       | 2024-07-17 11:16:02.047 [INFO] field_friend/automations/implements/tornado.py:82: Targeting crop 60343ed5-4696-4796-b36a-46e726bc169c which is 0.08381459873707699 away at world: Point(-0.315, -2.374), local: Point(0.096, 0.031)
rosys_1       | 2024-07-17 11:16:02.455 [INFO] field_friend/automations/implements/tornado.py:82: Targeting crop 60343ed5-4696-4796-b36a-46e726bc169c which is 0.06769662970502546 away at world: Point(-0.316, -2.374), local: Point(0.080, 0.032)
rosys_1       | 2024-07-17 11:16:02.874 [INFO] field_friend/automations/implements/tornado.py:82: Targeting crop 60343ed5-4696-4796-b36a-46e726bc169c which is 0.04867445056361758 away at world: Point(-0.315, -2.374), local: Point(0.061, 0.030)
rosys_1       | 2024-07-17 11:16:05.385 [INFO] field_friend/automations/implements/tornado.py:26: Performing Tornado Workflow..
rosys_1       | 2024-07-17 11:16:05.386 [INFO] field_friend/automations/implements/tornado.py:32: Drilling crop at Point(-0.315, -2.369) with angle 30.0°
rosys_1       | 2024-07-17 11:16:05.386 [INFO] field_friend/automations/puncher.py:67: Punching at 0.030160977936872717 with depth 0.01...
rosys_1       | 2024-07-17 11:16:05.386 [INFO] field_friend/hardware/y_axis.py:47: moving yaxis to 0.030160977936872717 with speed 500
rosys_1       | 2024-07-17 11:16:05.386 [INFO] field_friend/hardware/y_axis_canopen_hardware.py:76: moving to steps: 144682
rosys_1       | 2024-07-17 11:16:07.290 [INFO] field_friend/hardware/y_axis_canopen_hardware.py:89: yaxis moved to 0.030160977936872717
rosys_1       | 2024-07-17 11:16:07.290 [INFO] field_friend/automations/puncher.py:163: Drilling with tornado at 30.0°...
rosys_1       | 2024-07-17 11:16:07.291 [INFO] field_friend/hardware/tornado.py:220: moving z axis down
rosys_1       | 2024-07-17 11:16:08.291 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:16:08.392 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:16:08.495 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:16:08.595 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:16:08.696 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:16:08.796 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:16:08.897 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:16:08.997 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:16:09.098 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:16:09.200 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:16:09.300 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:16:09.404 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:16:09.505 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:16:09.606 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:16:09.707 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:16:09.808 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:16:09.909 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:16:10.009 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:16:10.111 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:16:10.212 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:16:10.314 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:16:10.414 [INFO] field_friend/hardware/tornado.py:237: moving z axis down
rosys_1       | 2024-07-17 11:16:10.514 [INFO] field_friend/hardware/tornado.py:232: minimum position reached
rosys_1       | 2024-07-17 11:16:10.515 [INFO] field_friend/hardware/tornado.py:251: finalizing moving z axis down
rosys_1       | 2024-07-17 11:16:18.920 [INFO] field_friend/hardware/tornado.py:207: moving z axis to 0
rosys_1       | 2024-07-17 11:16:21.642 [INFO] field_friend/hardware/tornado.py:212: z axis moved to 0
rosys_1       | 2024-07-17 11:16:25.660 [INFO] field_friend/automations/puncher.py:105: punched at 0.03 with depth 0.01, now back to rest position "reference"
rosys_1       | 2024-07-17 11:16:25.661 [INFO] field_friend/automations/implements/weeding_implement.py:91: workflow completed
rosys_1       | 2024-07-17 11:16:25.661 [INFO] field_friend/automations/implements/tornado.py:64: Skipping weed because it was already punched
rosys_1       | 2024-07-17 11:16:26.170 [INFO] field_friend/automations/implements/tornado.py:82: Targeting crop 60343ed5-4696-4796-b36a-46e726bc169c which is 0 away at world: Point(-0.290, -2.377), local: Point(0.008, 0.043)
rosys_1       | 2024-07-17 11:16:33.339 [WARNING] rosys/hardware/estop.py:56: E-Stop [1] changed
rodja commented 1 month ago

Could you add more logging? Like the yaw change when calling the _drive method? Or maybe activate serial logging so we can find out what is send to the motors when the turn happens...

pascalzauberzeug commented 1 month ago

This should be fixed with https://github.com/zauberzeug/field_friend/pull/134 but we still have to test it