ROS NXT Sensor / Motor Desired Frequency on Raspberry PI

asked 2016-10-07 12:25:42 -0500

Derkabub gravatar image

My set-up: -First edition Raspberry PI (Raspbian, running ROS Indigo) -Lego Mindstorms NXT I have catkin-ized ros-nxt -Connection with USB

Other devices connected via USB tested: -Toshiba Satellite laptop (running ROS Kinetic on Ubuntu 15.10) -gateway (M460E running ROS Indigo on Ubuntu 14.04 LTS)

The issue is that I can control the NXT via the teleop_keyboard app from the Toshiba and Gateway but I run into desired frequency issues on the Raspberry PI. It will work if I edit the .yaml file so the desired frequency is 2 hz for motors and 1 hz for the range sensor, but this does not work for control purposes. That and the left motor is out of sync with the right. No issues with motor syncing on the other two CPUs.

Thanks in advance!

I will provide more when / if I get more feedback.

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