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rosserial, Arduino and uArm [closed]

asked 2015-02-16 10:22:48 -0600

Kahn gravatar image

Hi guys,
I`m trying to control my uArm (made by uFactory) via ROS, which has a Arduino UNO in it.
I installed as tutorials wrote and could run all the examples.
Then I modified "float64_test" example and added "#include <eeprom.h> #include <uf_uarm.h>" to the codes.
When I added the sentence "UF_uArm uarm; ", which tries to initialize the uArm, the connection failed as:

$ rosrun rosserial_python serial_node.py _port:=/dev/ttyUSB0
[INFO] [WallTime: 1424100015.682196] ROS Serial Python Node
[INFO] [WallTime: 1424100015.685933] Connecting to /dev/ttyUSB0 at 57600 baud
/opt/ros/indigo/lib/python2.7/dist-packages/rosserial_python/SerialClient.py:336: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.
  self.pub_diagnostics = rospy.Publisher('/diagnostics', diagnostic_msgs.msg.DiagnosticArray)
[ERROR] [WallTime: 1424100032.791215] Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino

The version of rosserial is Indigo so I think there shouldn`t be mismatch in versions...
I already searched for many solutions but all failed.
Anyone have any idea?
Thank you so much!!

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2016-05-08 16:10:47.740578

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answered 2015-09-06 12:42:21 -0600

LorenzH gravatar image

I am also trying to get my uArm working with rosserial.

I experienced the same odd behaviour, that the chatter example works perfectly, the uArm Motion demo works perfectly, but when I try to combine both the connection to rosserial is not working anymore or the robot is moving very odd.

Any ideas someone?

I tried this without luck: http://answers.ros.org/question/16419...

Here my code

#include <EEPROM.h>
#include <UF_uArm.h>

#include <ros.h>
#include <sensor_msgs/JointState.h>

UF_uArm uarm; // initialize the uArm library

float positions[5] = {0.0};
char *joint_names[5] = {"SERVO_ROT", "SERVO_L", "SERVO_R", "SERVO_HAND_ROT", "SERVO_HAND"};

ros::NodeHandle nh;

sensor_msgs::JointState joint_state_msg;
ros::Publisher joint_state_pub("/joint_states", &joint_state_msg);

void setup()
{
 uarm.init();          // initialize the uArm position

 uarm.setServoSpeed(SERVO_R,    50);  // 0=full speed, 1-255 slower to faster
 uarm.setServoSpeed(SERVO_L,    50);  // 0=full speed, 1-255 slower to faster
 uarm.setServoSpeed(SERVO_ROT, 50);  // 0=full speed, 1-255 slower to faster

 nh.initNode();
 nh.advertise(joint_state_pub);

 joint_state_msg.position_length = 5;
 joint_state_msg.position = positions;
 joint_state_msg.name_length = 5;
 joint_state_msg.name = joint_names;
 delay(500);
}

void loop()
{
   uarm.setPosition(0, 0, 0, 0);        // original pose
   joint_state_msg.header.stamp = nh.now();
   joint_state_msg.position[0] = (float)uarm.readAngle(SERVO_ROT);
   joint_state_msg.position[1] = (float)uarm.readAngle(SERVO_L);
   joint_state_msg.position[2] = (float)uarm.readAngle(SERVO_R);
   joint_state_msg.position[3] = (float)uarm.readAngle(SERVO_HAND_ROT);
   joint_state_msg.position[4] = (float)uarm.readAngle(SERVO_HAND); 

   joint_state_pub.publish( &joint_state_msg );
   uarm.gripperDetach();
   delay(100);
   nh.spinOnce();
}
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Asked: 2015-02-16 10:22:48 -0600

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Last updated: Feb 16 '15