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I am using Rlfex-B21 driver for ATRV jr and publishing the velocity
rostopic pub -1 /b21/cmd_vel geometry_msgs/Twist '[0.8,0,0]' '[0,0,0]'
I am expect that the robot should should continuously move, but it doing move-stop-move at random intervals.
any help?????
rob
Hi,
we were recently trying to do the same with our B21-robot and by comparing the code with the Player-Stage code from which it was ported from, we found a fix for some hardware-bug. Applying that patch to the ROS-code solved it for us. (see: http://answers.ros.org/question/1863/rflexb21-cmd_vel-not-working-as-expected )
You can get the patch here:
http://ias.cs.tum.edu/~kargm/rflex_driver.patch
and apply it to rflex_driver.cc in your reflex ROS-package. Let me know it this solved it for you.
In general when sending command velocities, you need to publish continually, not just once. Try something like:
rostopic pub -r 10 /b21/cmd_vel geometry_msgs/Twist '[0.8,0,0]' '[0,0,0]'
This protects against losing control of the robot when bad things happen (like network interruptions, or controller node crashes).
Thanks for the reply, I try setting the constant frequency ( 10,20, 100 etc), but same issue. I am just wondering that since i am using telecom port (ttyR0) instead of USB(ttyUSB0) serial, would that be the issue?
Asked: 2011-12-13 05:29:09 -0500
Seen: 486 times
Last updated: Dec 14 '11
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