wpi-aim / ros_falcon Goto Github PK

Hello,
I am new to ROS and Ubuntu I am trying to interface ros and falcon device in ROS kinetics Ubuntu 16.04. I have downloaded and installed libnifalcon but still unable to use this for turtlesim.

I am unable to install libnifalcon, can anyone advice me ?

Hi,
I was wondering if this package works in kinetic (as is seen in package.xml).

Besides, I have an issue when try to build the package. I get this error,

catkin_ws/src/ROS-Falcon/src/falcon_js_pid.cpp:7:38: fatal error: rosfalcon/falconSetPoint.h: There is no file or directory #include "rosfalcon/falconSetPoint.h"

I'm building with catkin build ros_falcon, I'll appreciate any advice to solve this,

Best,

I was able to successfully send forces to the falcon through the /falconForce topic but pushing causes the device to vibrate. Is there a smarter way of publishing a force but without the vibrations?

poseFalcon= callBackMsg.axes;

if(poseFalcon.at(0)<=0) { forces.X = 5; falconForcePub_.publish(forces); }

Package compiled correctly, however when I try to launch the node I get the following error:

Traceback (most recent call last):
File "joy2cmd_vel.py", line 1, in
import roslib; roslib.load_manifest('rosfalcon')
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslib/launcher.py", line 62, in load_manifest
sys.path = _generate_python_path(package_name, _rospack) + sys.path
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslib/launcher.py", line 93, in _generate_python_path
m = rospack.get_manifest(pkg)
File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 167, in get_manifest
return self._load_manifest(name)
File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 211, in _load_manifest
retval = self._manifests[name] = parse_manifest_file(self.get_path(name), self._manifest_name, rospack=self)
File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 203, in get_path
raise ResourceNotFound(name, ros_paths=self._ros_paths)
rospkg.common.ResourceNotFound: rosfalcon
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/ubuntu/catkin_ws/src
ROS path [2]=/opt/ros/kinetic/share

I tried updating rospkg, and I'm pretty sure my ROS_PACKAGE_PATH is fine, as it returns /home/ubuntu/catkin_ws/src:/opt/ros/kinetic/share

I don't see any similar issues so I get the feeling that I'm doing something wrong but I'm not sure what it is...

When i compile the rosfalcon,i meet the error : fatal error：rosfalcon/ falconSetposition.h Don't have that file or directory.
I search the whole file,but i did not find it.I have installed libnifalcon and the device can be found.

I use the driver(or main) in /src, /falconPos can be published correctly(it proves that the falcon runs normally), but when I published /falconForces,there was no response from Falcon handler.

Compiler does not recognize the isnan function at the following lines:
falcon_cs_pid.cpp line 158
falcon_js_pid.ccp line 156

if(::isnan(LegAngles[i]))

Possible solution is to modify the lines to use the explicit std::isnan.

if(std::isnan(LegAngles[i]))

Hi,
I managed to compile the package and everything finished without error... However while trying to rosrun, the following happend.

/home/ashkan/catkin_ws/devel/lib/rosfalcon/joystick: error while loading shared libraries: libnifalcon.so.1.0.2: cannot open shared object file: No such file or directory

Hi again,

It would really great if there was a documentation on how to use this package with the falcon.

Cheers,
Ashkan

Hi,
Ubuntu 14.04 ROS indigo
I follow your readme instrutions and I got the following errors. Can you please help?

[ 97%] [ 97%] Building CXX object ros_falcon/CMakeFiles/falcon_control.dir/src/falcon_control.cpp.o
[ 98%] [ 98%] Building CXX object ros_falcon/CMakeFiles/falcon_cs_pid.dir/src/falcon_cs_pid.cpp.o
[ 98%] [ 98%] Building CXX object ros_falcon/CMakeFiles/joystick.dir/src/joystick.cpp.o
Built target ros_falcon_generate_messages
Building CXX object ros_falcon/CMakeFiles/falcon_js_pid.dir/src/falcon_js_pid.cpp.o
Building CXX object ros_falcon/CMakeFiles/driver.dir/src/driver.cpp.o
[100%] Building CXX object ros_falcon/CMakeFiles/gripper.dir/src/gripper.cpp.o
/home/ted/catkin_ws/src/ros_falcon/src/joystick.cpp:19:38: fatal error: falcon/core/FalconDevice.h: No such file or directory
#include "falcon/core/FalconDevice.h"
^
compilation terminated.
/home/ted/catkin_ws/src/ros_falcon/src/falcon_cs_pid.cpp:10:38: fatal error: falcon/core/FalconDevice.h: No such file or directory
#include "falcon/core/FalconDevice.h"
^
compilation terminated.
/home/ted/catkin_ws/src/ros_falcon/src/falcon_js_pid.cpp:10:38: fatal error: falcon/core/FalconDevice.h: No such file or directory
#include "falcon/core/FalconDevice.h"
^
compilation terminated.
/home/ted/catkin_ws/src/ros_falcon/src/driver.cpp:16:38: fatal error: falcon/core/FalconDevice.h: No such file or directory
#include "falcon/core/FalconDevice.h"
^
compilation terminated.
Linking CXX executable /home/ted/catkin_ws/devel/lib/ros_falcon/gripper
[100%] Built target gripper
Linking CXX executable /home/ted/catkin_ws/devel/lib/ros_falcon/falcon_control
[100%] Built target falcon_control
make[2]: *** [ros_falcon/CMakeFiles/driver.dir/src/driver.cpp.o] Error 1
make[1]: *** [ros_falcon/CMakeFiles/driver.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make[2]: *** [ros_falcon/CMakeFiles/falcon_cs_pid.dir/src/falcon_cs_pid.cpp.o] Error 1
make[1]: *** [ros_falcon/CMakeFiles/falcon_cs_pid.dir/all] Error 2
make[2]: *** [ros_falcon/CMakeFiles/joystick.dir/src/joystick.cpp.o] Error 1
make[1]: *** [ros_falcon/CMakeFiles/joystick.dir/all] Error 2
make[2]: *** [ros_falcon/CMakeFiles/falcon_js_pid.dir/src/falcon_js_pid.cpp.o] Error 1
make[1]: *** [ros_falcon/CMakeFiles/falcon_js_pid.dir/all] Error 2
make: *** [all] Error 2
Invoking "make -j8 -l8" failed
ted@vra1:~/catkin_ws$

Hi,
As far as I understand, the package consist of examples to send position data to the Falcon. However, I would like to have a node that sends force and can read the position of the falcon. I think this can be done with the driver.cpp node. But this file is not compiled by default, at least in my case. When I build the package get only this nodes by default:

falcon_control, falcon_js_pid, joystick, falcon_cs_pid, gripper

I tried to compile this file (drive.cpp) by adding it to the Cmakelists.txt file and change the lines # 12 y 13, to: #include <ros_falcon/falconPos.h>, #include <ros_falcon/falconForces.h>, but I get this error,

Errors << ros_falcon: make ~/catkin_ws/logs/ros_falcon/build.make.003.log
~/catkin_ws/src/ros_falcon/src/driver.cpp: In function 'bool init_falcon (int)':
~/catkin_ws/src/ros_falcon/src/driver.cpp:103:57: error: no matching function for call to 'libnifalcon :: FalconFirmware :: setForces (boost :: array <int, 3u> &)'
     m_falconDevice.getFalconFirmware () -> setForces (forces);
......

Could you tell me if I'm on the right way? and how could I build this node ? What am I not considering?

thanks in advance!