Teleop isn't moving Gopigo2 robot [closed]

asked 2017-12-23 18:55:29 -0500

Noidea gravatar image

updated 2017-12-24 15:55:58 -0500

jayess gravatar image

Gopigo2 Rpi2B - Linux raspberrypi 4.9.35-v7+ #1014 SMP Fri Jun 30 14:47:43 BST 2017 armv7l GNU/Linux PRETTY_NAME="Raspbian GNU/Linux 8 (jessie)" NAME="Raspbian GNU/Linux" VERSION_ID="8" VERSION="8 (jessie)" ID=raspbian ID_LIKE=debian

When I run teleop_twist_keyboard and try to initiate a command on my gopigo nothing happens. You can see the messages change as shown below but no change on the gopigo/ropigo. The topics are displaying on the remote PC(not ssh). Any idea what I should look at first? Thanks in advance.

ubuntu@ubuntu:~$ rostopic echo /cmd_vel
  x: 0.0
  y: 0.0
  z: 0.0
  x: 0.0
  y: 0.0
  z: 0.0
  x: 0.55
  y: 0.0
  z: 0.0
  x: 0.0
  y: 0.0
  z: 1.1

ubuntu@ubuntu:~/catkin_ws$ rostopic list

pi@raspberrypi:~/gopigo_ws $ rosrun ropigo ropigo_node
[ INFO] [1514071469.689818951]: GoPiGo Firmware Version: 16
[ INFO] [1514071469.690366452]: GoPiGo Board Version: 14

pi@raspberrypi:~/Dexter/GoPiGo/Troubleshooting $ roswtf
No package or stack in context
Static checks summary:

No errors or warnings
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules

Online checks summary:

Found 1 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:
 * /ropigo:
   * /servo_cmd

GoPiGo Troubleshooting Script

Adding permissions to the scripts

Check space left
Filesystem      Size  Used Avail Use% Mounted on
/dev/root        30G  8.0G   21G  29% /
devtmpfs        458M     0  458M   0% /dev
tmpfs           462M     0  462M   0% /dev/shm
tmpfs           462M  6.3M  456M   2% /run
tmpfs           5.0M  4.0K  5.0M   1% /run/lock
tmpfs           462M     0  462M   0% /sys/fs/cgroup
/dev/mmcblk0p1   42M   21M   21M  51% /boot
tmpfs            93M     0   93M   0% /run/user/1000

Check for dependencies
python 2.7.9-1 install ok installed
python-pip 1.5.6-5 install ok installed
git 1:2.1.4-2.1+deb8u5 install ok installed
libi2c-dev 3.1.1+svn-2 install ok installed
python-serial 2.6-1.1 install ok installed
python-rpi.gpio 0.6.3~jessie-1 install ok installed
i2c-tools 3.1.1+svn-2 install ok installed
python-smbus 3.1.1+svn-2 install ok installed
arduino 2:1.0.5+dfsg2-4 install ok installed
minicom 2.7-1+deb8u1 install ok installed
scratch install ok installed

wiringPi Found
wiringPi Found
I2C still in blacklist (ERR)
SPI still in blacklist (ERR)

Check for addition in /modules
I2C-dev already there
i2c-bcm2708 already there
spi-dev already there

Hardware revision
gpio version: 2.36
Copyright (c) 2012-2015 Gordon Henderson
This is free software with ABSOLUTELY NO WARRANTY.
For details type: gpio -warranty

Raspberry Pi Details:
  Type: Pi 2, Revision: 01, Memory: 1024MB, Maker: Embest 
  * Device tree is enabled.
  *--> Raspberry Pi 2 Model B Rev 1.1
  * This Raspberry Pi supports user-level GPIO access.

Check the /dev folder

USB ...
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Closed for the following reason the question is answered, right answer was accepted by Noidea
close date 2017-12-27 20:57:52.761493


Tip: state the problem in the title. E.g., "Teleop isn't moving Gopigo2 robot."

clyde gravatar image clyde  ( 2017-12-24 12:17:11 -0500 )edit

Looks like has lots of DEBUG messages. You can use these to make sure that the node is receiving and responding to the message. See for logging configuration.

clyde gravatar image clyde  ( 2017-12-24 12:18:57 -0500 )edit

Thanks clyde I added to my post the output from turning on a LED but the LED doesnt light.

Noidea gravatar image Noidea  ( 2017-12-24 14:22:38 -0500 )edit

Does it work if you run teleop_twist_keyboard on the raspberry PI over SSH? If it does, it could indicate a network issue.

ahendrix gravatar image ahendrix  ( 2017-12-26 22:07:25 -0500 )edit

Hi ahendrix, I tried enabling a LED through the service directly on the robot and it says it enable and returns no errors but the LED never comes on. When I initial the cpp file with rosrun the LED's light as they should but for some reason the service is no initiating the enable command.

Noidea gravatar image Noidea  ( 2017-12-27 12:09:56 -0500 )edit