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Hello,

Can you help me understand what these 3 lines does?

// Notify the ROS thread that a message response (ack/nack) has arrived.
boost::lock_guard<boost::mutex> lock(last_response_mutex_);
last_response_ = msg;
last_response_available_.notify_one();

Are there any plans to migrate this to ROS Kinetic?

Hello,

I'm not sure about the correctness of the following line:
https://github.com/g/roboteq/blob/indigo-devel/roboteq_driver/mbs/script.mbs#L30

I don't understand why you set EMOD to 50, while according to manual (p210) it should be
aa + mot1 * 16 + mot2 * 32

so

18 for motor 1 with feedback
34 for motor 2 with feedback

Walter

I've created a ros_control module that publishes velocity commands for two wheels modeled as joints, and launched a diff_drive controller. This setup works, but when I send a twist message asking the robot to go forward, one of the wheels starts rotating before the other, creating a small but noticeable change in robot's orientation. Is there a way to synchronize the command between the channels?
The relevant code that publishes the commands in my side is:

  for (unsigned int i=0;i<num_joints_;i++) {
    roboteq_msgs::Command c;
    c.mode = 0;
    c.setpoint = joint_velocity_command_[i] * ((i==0) ? -1 : 1); //left wheel control must be inverted
    motor_controller_[i].publish(c);
  }

I've installed ROS on Asus Tinkerboard. I have changed the port in launch file from /dev/ttyACM0 to /dev/ttyS3 as I have connected to the UART. After running roslaunch example.launch it is showing the following warning Serial::readline() returned no data.

When using the driver with serial ports, I got feedback errors and the driver crashed.
The warning was : Wrong number of status fields. Dropping message.
Actually the feedback messages were incomplete and the number of fields different from the expression in the source code.
I checked the baud rate connection port etc...
I switched to USB port and it was normal again.
Did anyone encounter the same issue with RS232 port ?

Hi,

I know this issue has already been discussed, just posting again so it will be seen. I am able to read data from the controller, but the motor does not respond when I try to send commands. Could this be because I am using ROS Kinetic? Has anyone else experienced this issue?

Hi there, I'm just wondering does this driver support the MDC1460 controller?
When running it, I get the following warning
[ WARN] [1514997662.639967753]: Unknown serial message received: FID=Roboteq v1.7 MDC14XX 10/13/2016
Thanks,
Pete

I see that there is a way to simply add one more channel but to recognize the second node and it's 2 channels, i am not sure where to start or how to go about doing it?

Thoughts?

Hello,

I experienced the following issue when I tried to do catkin_make:

CMake Warning at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
Could not find a package configuration file provided by "serial" with any
of the following names:

serialConfig.cmake
serial-config.cmake

Add the installation prefix of "serial" to CMAKE_PREFIX_PATH or set
"serial_DIR" to a directory containing one of the above files. If "serial"
provides a separate development package or SDK, be sure it has been
installed.
Call Stack (most recent call first):
roboteq/roboteq_driver/CMakeLists.txt:4 (find_package)

-- Could not find the required component 'serial'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by "serial" with any
of the following names:

serialConfig.cmake
serial-config.cmake

Add the installation prefix of "serial" to CMAKE_PREFIX_PATH or set
"serial_DIR" to a directory containing one of the above files. If "serial"
provides a separate development package or SDK, be sure it has been
installed.
Call Stack (most recent call first):
roboteq/roboteq_driver/CMakeLists.txt:4 (find_package)

Configuring incomplete, errors occurred!
See also "/home/old/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/old/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

Please help.

Thank you,
Aaron

Hi,
I am working with a Roboteq MDC2460 and a Jetson tx2. I got my robot pre-wired to work with an RC controller which uses pulse signals. I was able to connect it and run the robot with an analog joystick with my windows laptop as the serial connection using the usb port. I am trying to figure out how I can hook up the RS232 connection to the Jetson either via uart, i2c, gpio, or can. There is not much documentation on how to go about this. I have scoured the net with not much luck. I was able to install the ros drivers and run some simple scripts to retrieve battery voltage, temprature etc. but I have not been able to control the robot using my analog joystick or through code. Am I missing something here? Any help pointing me in the correct direction will help.

Tyagi

I was having an issue getting the feedback to display from both channels when launching in in dual channels. I think the issue is in channel.cpp.

void Channel::timerCallback(const ros::TimerEvent&) {
if (ros::Time::now() - last_feedback_time_ > ros::Duration(1.0)) {
// Not receiving feedback, attempt to start it.
controller_->setUserBool(1, 1);
controller_->flush();
}
}

I made the following change:

void Channel::timerCallback(const ros::TimerEvent&) {
if (ros::Time::now() - last_feedback_time_ > ros::Duration(1.0)) {
// Not receiving feedback, attempt to start it.
controller_->setUserBool(channel_num_, 1);
controller_->flush();
}
}

not sure if this is correct but it fixed my issue

I'm trying to use the SDC2130 Roboteq driver. It has a correct connection with the port ttyACM0 and revived feedback from topic “roboteq_driver/feedback”, but I don't know how to specify, in the XML file “example.launch”, that exit 2 channels to motor: left and right

Thanks