segway connection problem [closed]
I am having real trouble trying to talk to my RMP. Previously, we used custom software running from Ubuntu 8.??, and it relies on the old ftd2xx0.4.16 drivers. That solution still works, so I know that the robot works.
Now, however, I am trying to get the ROS-electric code for communicating with the segway working. So, working from a 10.04 machine, I've installed all of the ROS-electric drivers, and have got the segway code installed. But all I get are FTD2XX io errors. I've already changed the permissions of the /dev/bus/usb/00?/* ports... and have tried every piece of connection code I can find with similar results. I've included my error code below.
Any suggestions on where to go next? I've tried basic ftdi programs as well with similar connection failures, so I suspect it is a permissions or driver problem. What OS, FTDI drivers, and software are other people using to connect?
Thanks in advance!
~/ros_workspace$ roslaunch segway_rmpX segway_rmp.launch
... logging to ~/.ros/log/a0350454-e162-11e1-a074-180373d04204/roslaunch-beside-23495.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://beside:53175/
SUMMARY
========
PARAMETERS
* /segway_rmp_node/frame_id
* /segway_rmp_node/usb_index
* /segway_rmp_node/invert_angular_vel_cmds
* /segway_rmp_node/rmp_type
* /segway_rmp_node/invert_linear_vel_cmds
* /rosdistro
* /segway_rmp_node/motor_timeout
* /rosversion
* /segway_rmp_node/interface_type
* /segway_rmp_node/usb_selector
* /segway_rmp_node/broadcast_tf
NODES
/segway_rmp_node (segway_rmpX/segway_rmp_node)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[segway_rmp_node-1]: started with pid [23513]
[ INFO] [1344444742.717889293]: Accel limits: linear: pos = 0.000000, neg = 0.000000, angular: pos = 0.000000, neg = 0.000000.
[ INFO] [1344444742.719988168]: Connecting to Segway RMP via usb identified by the device index: 0
[ERROR] [1344444742.728238785]: Exception while connecting to the SegwayRMP, check your cables and power buttons.
[ERROR] [1344444742.728290193]: Error connecting to SegwayRMP: FTD2XX error while opening the usb port: FT_DEVICE_NOT_OPENEP
[ WARN] [1344444742.728336947]: Not connected to the SegwayRMP, will retry in 5 seconds...
[ERROR] [1344444747.732318887]: Exception while connecting to the SegwayRMP, check your cables and power buttons.
[ERROR] [1344444747.732365455]:
[ WARN] [1344444747.732396047]: Not connected to the SegwayRMP, will retry in 5 seconds...
I don't remember seeing this error while trying the ftdi version of this driver. Do you want to try out the serial version (example in launch file). The serial version works for me on 11.10/12.04 on both electric and version. This is what I use now.
The serial port connection still failed on 10.04, but upgrading everything to 12.04 and fuerte seems to have done the trick. I still can't get USB to work, but serial access through /dev/ttyUSB0 is fine.That means I can move the robot base, but the rest of my robot no longer works <sigh>.... Thanks!