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Problems with Pelican control using asctec_drivers

asked 2011-07-11 05:18:31 -0500

Yogi gravatar image

updated 2011-07-27 07:28:21 -0500

mmwise gravatar image

Hi We recently got the Pelican quadrotor, and I am trying to figure out how to interact with.

I tried playign with the ros asctec_drivers and I was confused about a few things:

  1. when i run the asctec drivers using the command: roslaunch asctec_proc asctec_driver.launch although i do get the quadrotor status in the asctec_mon node, however I get neverending stream of error messages also which look like this:

    ROS_MASTER_URI=http://localhost:11311
    
    core service [/rosout] found
    process[AutoPilot-1]: started with pid [8567]
    process[AsctecProc-2]: started with pid [8575]
    [ INFO] [1310403092.428431980]: Creating AutoPilot Interface
    [ INFO] [1310403092.467485696]: Initializing serial port...
    [ INFO] [1310403092.467751836]: Starting AsctecProc
    [ INFO] [1310403092.480610254]: Successfully connected to /dev/ttyUSB0, Baudrate 57600
    
    [ INFO] [1310403092.482211992]: Publishing LL_STATUS data
    [ INFO] [1310403092.483186079]: Publishing IMU_CALCDATA data
    [ INFO] [1310403092.483218031]: Control Disabled
    [ERROR] [1310403092.795496644]:   Unexpected Data: Flushing receive buffer
    [ERROR] [1310403092.808786791]:     Error Reading Packet Header: Resource temporarily unavailable
    [ERROR] [1310403092.808928489]:     Read (3): ;?
    [ERROR] [1310403092.809003484]:   Read failed
    [ERROR] [1310403092.835423407]:     Error Reading Packet Header: Resource temporarily unavailable
    [ERROR] [1310403092.835498263]:     Read (3): ??
    [ERROR] [1310403092.835534067]:   Read failed
    [ERROR] [1310403092.933538751]: Timeout: 0 bytes available 3 bytes requested
    [ERROR] [1310403092.954336371]:   Unexpected Data: Flushing receive buffer
    [ERROR] [1310403092.964756981]:     Error Reading Packet Header: Resource temporarily unavailable
    [ERROR] [1310403092.964830510]:     Read (3): 
    [ERROR] [1310403092.964864269]:   Read failed
    ..
    ..
    ..
    

does anyone know what is causing it?

2. How can I send waypoints to the pelican using this ros stack? I do not see any topics for it.

Thank you.

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answered 2011-07-27 22:05:19 -0500

Markus Achtelik gravatar image

Hi,

yogi found a (at least partial) solution here

For the waypoints, do you want to send GPS waypoints, or do you want to navigate the pelican based on some laser/camera slam or odometry? For the latter case, if you can provide position and yaw, you can have a look here.

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Markus Achtelik gravatar image Markus Achtelik  ( 2011-08-11 11:01:35 -0500 )edit
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answered 2012-06-07 22:10:57 -0500

Tsai gravatar image

Did anyone solve this problem yet? I also have the similar problem with my Pelican.

After running the demo-autopilot-sensor on the desktop, it showing: Publishing LL_STATUS data Publishing IMU_CALCDATA data Control Disabled

I connect the Atom board with autopilot using direct link from LL Serial 0 of the Autopilot to UART1 of the Atom board. They both power on.

Thank you very much for your help.

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answered 2011-07-27 20:08:37 -0500

william nguatem gravatar image

Hi Folks, me too am having thesame problem when I run the command:roslaunch asctec_proc asctec_driver.launch

Have you been able to figure out where the problem lies ?

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answered 2012-01-28 23:34:09 -0500

vivek gravatar image

ive also faced the same problem and it was the ftdi chip conneting the imu to the quad, just getting a new one solved it

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answered 2012-01-26 07:22:29 -0500

I am also having the same problem. Anyone?

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answered 2011-07-26 06:10:47 -0500

ANT gravatar image

Yogi,

I am having a similar problem. Were you ever able to resolve this issue?

  • ANT
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FYI: This would be better phrased as a comment so others don't think this has been answered.
tfoote gravatar image tfoote  ( 2011-07-27 09:22:53 -0500 )edit

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Asked: 2011-07-11 05:18:31 -0500

Seen: 806 times

Last updated: Jun 07 '12