turtlebot bad gyro calibration

asked 2015-11-23 03:28:36 -0600

sonictl

277 ●22 ●32 ●38 http://www.cnblogs.com...

updated 2015-11-23 03:29:52 -0600

rostopic echo /diagnostics :

we see a lot of '0's here. This may be a proble of my gear wheel. Thank you helping me to try to fix it now.

header: seq: 2238 stamp: secs: 1448269540 nsecs: 681997060 frame_id: '' status:

level: 0
name: TurtleBot Node
message: RUNNING
hardware_id: ''
values: []

level: 0
name: Operating Mode
message: Full
hardware_id: ''
values: []

level: 0
name: Battery
message: OK
hardware_id: ''
values: 
  - 
    key: Voltage (V)
    value: 15.613
  - 
    key: Current (A)
    value: -0.344
  - 
    key: Temperature (C)
    value: 32
  - 
    key: Charge (Ah)
    value: 2.297
  - 
    key: Capacity (Ah)
    value: 2.696

level: 0
name: Charging Sources
message: None
hardware_id: ''
values: []

level: 0
name: Cliff Sensor
message: OK
hardware_id: ''
values: 
  - 
    key: Left
    value: False
  - 
    key: Left Signal
    value: 2475
  - 
    key: Front Left
    value: False
  - 
    key: Front Left Signal
    value: 2561
  - 
    key: Front Right
    value: False
  - 
    key: Front Right Signal
    value: 2606
  - 
    key: Right
    value: False
  - 
    key: Right Signal
    value: 2609

level: 0
name: Wall Sensor
message: OK
hardware_id: ''
values: 
  - 
    key: Wall
    value: False
  - 
    key: Wall Signal
    value: 61
  - 
    key: Virtual Wall
    value: False

level: 2
name: Gyro Sensor
message: Gyro Power Problem: For more information visit http://answers.ros.org/question/2091/turtlebot-bad-gyro-calibration-also.
hardware_id: ''
values: 
  - 
    key: Gyro Enabled
    value: True
  - 
    key: Raw Gyro Rate
    value: 0
  - 
    key: Calibration Offset
    value: 0
  - 
    key: Calibration Buffer
    value: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ...

(more)

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answered 2015-11-23 03:40:08 -0600

Loneflyer
96 ●1 ●4 ●6

Remove the power distribution circuit board from your CREATE Base. On a full battery charge, ensure that there is a constant 5V power supply between pins 8 and 14, as shown in the photo.

image description

If there isn't you'll have to use an external gyro or maybe change the base.

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Comments

I'm using iRobot Create 2 as the base. I see there is an encoder near the wheel. Furthermore, I noticed that "iRobot_Roomba_600_Open_Interface_Spec_0908.pdf" shows us Roomba Open Interface Sensor Packets, and we can read the distance and angle from the encoder. The 'gyro' in your message means that?