prl-mushr / mushr Goto Github PK

Hi, I want the car to switch behavior from going forward to going in reverse based on the path that I give. Right now, the car goes all the time forward and I am not sure how to switch to the reverse behavior automatically based on the path the controller receives.

Would you be able to help me with this?

Many thanks for considering my request.

Describe the bug

process[car/state_publisher-16]: started with pid [14068]
Traceback (most recent call last):
  File "/home/robot/catkin_ws/src/mushr/mushr_hardware/push_button_utils/src/push_button.py", line 3, in <module>
    import Jetson.GPIO as GPIO
  File "/usr/local/lib/python2.7/dist-packages/Jetson/GPIO/__init__.py", line 1, in <module>
    from .gpio import *
  File "/usr/local/lib/python2.7/dist-packages/Jetson/GPIO/gpio.py", line 23, in <module>
    from Jetson.GPIO import gpio_pin_data
  File "/usr/local/lib/python2.7/dist-packages/Jetson/GPIO/gpio_pin_data.py", line 560
    msg = f"Environment variable 'JETSON_MODEL_NAME={model_name}' is invalid."
                                                                             ^
SyntaxError: invalid syntax
[car/push_button-14] process has died [pid 14050, exit code 1, cmd /home/robot/catkin_ws/src/mushr/mushr_hardware/push_button_utils/src/push_button.py __name:=push_button __log:=/home/robot/.ros/log/ed4a237a-c4a3-11ed-b0ca-0e569ec1aa55/car-push_button-14.log].
log file: /home/robot/.ros/log/ed4a237a-c4a3-11ed-b0ca-0e569ec1aa55/car-push_button-14*.log

To Reproduce
Steps to reproduce the behavior:

1. Open terminal
2. roslaunch mushr_base teleop.launch
3. See log attached

Environment

• OS: Ubuntu 18.04 LTS
• Platform: Jetson Nano
• Library versions: ROS melodic, python 2.7.17

ed4a237a-c4a3-11ed-b0ca-0e569ec1aa55.zip

Hi
I am following the Navigation Tutorial using a real car.
Thanks for the MuSHR tutorials.
I wouldn't have been able to get this far without the MuSHR tutorials.
MuSHR seems to have two versions: without and with namespaces "/car".
Since I started with the SD card image of the version without namespace, I had a bit of a hard time because of the namespace.
Eventually, I replaced the initial version with the namespace version, using mushr_install.sh.

I installed JetPack of Nvidia Jetson Nano, then executed the script of mushr_install.sh.
The namespaces version has been installed successfully.

Additionally, I installed the gmapping and the navigation stack.
$ cd ~/catkin_ws/src/
$ git clone https://github.com/ros-perception/openslam_gmapping.git
$ git clone https://github.com/ros-perception/slam_gmapping.git

$ git clone https://github.com/prl-mushr/mushr_rhc.git
$ git clone https://github.com/prl-mushr/mushr_pf.git
$ cd ~/catkin_ws && catkin_make

I made a map with gmapping.
$ rosrun gmapping slam_gmapping scan:=/car/scan _base_frame:=/car/base_link

so far so good.
I copied the map file to ~/catkin_ws/src/mushr_rhc/mushr_rhc_ros/maps/
and changed the map name into real-floor0-edited such as real-floor0-edited.pgm and real-floor0-edited.yaml.

In navigation, mushr_pf seems to work well.
$ roslaunch mushr_pf real.launch

But, mushr_rhc_ros shows some errors.
$ roslaunch mushr_rhc_ros real.launch

[car/rhcontroller-3] process has died ......

What did I wrong?
I guess the namespaces version doesn't seem to match well with pf and rhc.
Otherwise, have I missed some libraries or dependencies for rhc?

Thanks a lot in advance.

Discussed in #59

Hi there, it is a great project and I do appreciate what you have done! I am wondering if there are specific reasons that you are not using the ESC and servo coming with the car?

The hardware build instructions here show how to use a pre-built image, but do not give the login details for that install. I found them elsewhere, in the simulation tutorial: "The username is robot and the password is prl_robot"

when I execute
vcs import < repos.yaml
It throws this error :
=== ./range_libc (git) === Could not checkout ref 'master': error: pathspec 'master' did not match any file(s) known to git.
Apparently the github repository ( https://github.com/kctess5/range_libc ) has no branch by the name of "master" (maybe they changed it?)
The fix is really simple, in the repos.yaml, simply change the "version" of rangelib_c to "deploy".

Also, people that are new to github or haven't used ssh before should be told to first get an ssh key before running that command (I got stuck there for about an hour before I realized what the problem was).

Thanks.

gmapping is needed for slam but does not work on melodic. Try using cartographer instead