Replies: 11 comments 16 replies
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Here is what it does step by step on the wiki: guen@raspberry:~/guenbot_hardware/firmware$ ros2 topic hz /imu/data guen@raspberry:~/guenbot_hardware/firmware$ ros2 topic hz /odom guen@raspberry:~/guenbot_hardware/firmware$ ros2 topic hz /joint_states guen@raspberry:~/guenbot_hardware/firmware$ ros2 topic hz /scan |
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max rpm should be 150 for your motor. stop distance is too long, 0.25m = 25cm. which motor and motor driver do you use? |
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run test_acc in open space. |
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i am using ga25-370 170rpm and l298n, i think the long stopping distance is because of the l298 module, because the room area is a bit small but i will try test_acc |
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test_sensors |
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it's fine and i pulled 2k for scl and sda |
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Your motor is 150rpm variant. L298 does support fast motor stop. For Mecanum drive, the LR_WHEELS_DISTANCE should somewhere as front-right to rear-left. |
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I set it to 150rpm and LR_WHEELS_DISTANCE 0.22 |
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How much is your robot weight? |
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It weighs 3.1 kg, is 25 long, 15 wide, and 20 high. |
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If including wheel width then 25x27x20 |
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When launching bringup.launch.py it shows the following error message: |
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You should check the real rpm with a tachometer if you can find one. Or you may try tachometer/strobe light app on your phone. 22 is too small for your Mecanum driver. What is the distance of front-right wheel to front-left? front-right to rear-right? Then you can find the trigonometry. When you do the slam, do not turn, only forward and backward. You can see the error between laser and your map. This is the linear wheel odometry error. Next, turn only. You can see the rotation error. |
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this is when i show forward and backward |
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so now i need to re-measure the distance between the wheels and readjust the rpm, actual speed |
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Hi @hippo5329 today my motors 1-3 are spinning continuously even though they are not receiving control commands, motors 2-4 do not have the same problem when running the firmware. test_motor shows that motors 1-2-3-4 are still working normally and functioning properly. |
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During developments process, things went wrong often. It will be helpful to revert to previous working state. You can use git to keep track your code changes. You can revert your changes with commits or try different alternatives with git branches. I use both KVM snapshots and LXD/ZFS snapshots to create snapshots at each check points. So that I can revert to previous working state easily. I use wired connection and create a bridge to connect them. Because ROS2 RMW uses broadcast. So bridged connections works best. In your case, you should save current work and revert to previous working state. |
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i know where my cause is, because i switched to pico and tb6612. when plugging in the encoder pins of motor 1-3 must be reversed with 2-4. |
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You should run test_motors after you modify the motors/encoders connection. |
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@hippo5329 map creation is working pretty well, thanks for your support. |
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I had troubles with libcamera support of pi camera on Ubuntu before. So I used usb camera. There are less issues with usb camera drivers. What do you mean "slow"? I will try ov5647 again later. |
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I'm also having problems with libcamera so when I switched to v4l2 the camera's fps was only about 3-4fps. By "slow" I mean fps and sometimes it even freezes. |
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Follow this link to build libcamera, https://www.raspberrypi.com/documentation/computers/camera_software.html#building-libcamera You will need to install missing dependencies. I am still working on this. |
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I think it is mostly working now. |
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it working, I am looking for source and testing developing following human robot on ros2 using rgb camera |
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this is an object recognition program, and it has x,y distance division of the frame. But I still don't know how to control it to fit the mecanum wheel. Can you give me an idea? |
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Hi @hippo5329 after some difficulty i got to the step of building the map but it is quite chaotic as in the picture. can you help me?
I followed every step as in the wiki and this is what I tweaked to fit the robot:
#define MOTOR_MAX_RPM 170 // motor's max RPM
#define MAX_RPM_RATIO 0.6 // max RPM allowed for each MAX_RPM_ALLOWED = MOTOR_MAX_RPM * MAX_RPM_RATIO
#define MOTOR_OPERATING_VOLTAGE 12 // motor's operating voltage (used to calculate max RPM)
#define MOTOR_POWER_MAX_VOLTAGE 12 // max voltage of the motor's power source (used to calculate max RPM)
#define MOTOR_POWER_MEASURED_VOLTAGE 12 // current voltage reading of the power connected to the motor (used for calibration)
#define COUNTS_PER_REV1 780 // wheel1 encoder's no of ticks per rev
#define COUNTS_PER_REV2 780 // wheel2 encoder's no of ticks per rev
#define COUNTS_PER_REV3 780 // wheel3 encoder's no of ticks per rev
#define COUNTS_PER_REV4 780 // wheel4 encoder's no of ticks per rev
#define WHEEL_DIAMETER 0.097 // wheel's diameter in meters
#define LR_WHEELS_DISTANCE 0.22 // distance between left and right wheels
#define PWM_BITS 10 // PWM Resolution of the microcontroller
#define PWM_FREQUENCY 20000 // PWM Frequency
#define SERVO_BITS 12 // Servo PWM resolution
#define SERVO_FREQ 50 // Servo PWM frequency
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