Problems with Pelican control using asctec_drivers

asctec_drivers

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

Yogi
411 ●12 ●15 ●21

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

mmwise

8372 ●45 ●74 ●99 http://www.meloneewise.com/

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:

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
390 ●8 ●11 ●19

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.