Dynamic Reconfigure is called automatically in ros_control

asked 2018-08-18 06:36:53 -0500

javi_tecla gravatar image

updated 2018-08-18 06:37:40 -0500

Hi everyone I have a problem when I launch the ros_control node.

In one computer the code works without problems:

javier@JavierPortatil:~$ roslaunch sara_control control_launch.launch
... logging to /home/javier/.ros/log/1be9aa56-a24f-11e8-934b-5435303f8ae2/roslaunch-JavierPortatil-3099.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://JavierPortatil:44657/

SUMMARY
========

PARAMETERS
 * /diff_drive_controller/angular/z/has_acceleration_limits: True
 * /diff_drive_controller/angular/z/has_jerk_limits: True
 * /diff_drive_controller/angular/z/has_velocity_limits: True
 * /diff_drive_controller/angular/z/max_acceleration: 1.0
 * /diff_drive_controller/angular/z/max_jerk: 2.5
 * /diff_drive_controller/angular/z/max_velocity: 3.0
 * /diff_drive_controller/base_frame_id: base_link
 * /diff_drive_controller/cmd_vel_timeout: 0.5
 * /diff_drive_controller/left_wheel: wheel_left_joint
 * /diff_drive_controller/linear/x/has_acceleration_limits: True
 * /diff_drive_controller/linear/x/has_jerk_limits: True
 * /diff_drive_controller/linear/x/has_velocity_limits: True
 * /diff_drive_controller/linear/x/max_acceleration: 0.4
 * /diff_drive_controller/linear/x/max_jerk: 1.0
 * /diff_drive_controller/linear/x/max_velocity: 0.6
 * /diff_drive_controller/linear/x/min_acceleration: -0.4
 * /diff_drive_controller/linear/x/min_velocity: -0.1
 * /diff_drive_controller/pose_covariance_diagonal: [0.001, 0.001, 10...
 * /diff_drive_controller/publish_rate: 50.0
 * /diff_drive_controller/right_wheel: wheel_right_joint
 * /diff_drive_controller/twist_covariance_diagonal: [0.001, 0.001, 10...
 * /diff_drive_controller/type: diff_drive_contro...
 * /diff_drive_controller/wheel_radius: 0.161
 * /diff_drive_controller/wheel_radius_multiplier: 1.0
 * /diff_drive_controller/wheel_separation: 0.525
 * /diff_drive_controller/wheel_separation_multiplier: 1.0
 * /rosdistro: kinetic
 * /rosversion: 1.12.7
 * /use_sim_time: False

NODES
  /
    SARA_control_interface (sara_control/control_node)
    SARA_controller_manager (controller_manager/spawner)
    SARA_interface (sara_control/hwinterface_script.py)
    cmd_vel_relay (topic_tools/relay)

auto-starting new master
process[master]: started with pid [3110]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1be9aa56-a24f-11e8-934b-5435303f8ae2
process[rosout-1]: started with pid [3123]
started core service [/rosout]
process[SARA_interface-2]: started with pid [3127]
process[SARA_control_interface-3]: started with pid [3138]
process[SARA_controller_manager-4]: started with pid [3143]
process[cmd_vel_relay-5]: started with pid [3144]
[ INFO] [1534532129.501378306]: Nodo control_iterface iniciado
[ INFO] [1534532129.579602490]: upate_frec :0.100000
[ INFO] [1534532129.579678093]: threshold_frec :0.010000
[INFO] [1534532129.796961]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1534532129.801200]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1534532129.803069]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1534532129.804514]: Loading controller: diff_drive_controller
[ INFO] [1534532129.818424988]: Controller state will be published at 50Hz.
[ INFO] [1534532129.820278650]: Wheel separation will be multiplied by 1.
[ INFO] [1534532129.821801685]: Wheel radius will be multiplied by 1.
[ INFO] [1534532129.822550316]: Velocity rolling window size of 10.
[ INFO] [1534532129.824035132]: Velocity commands will be considered old if they are older than 0.5s.
[ INFO] [1534532129.825167609]: Allow mutiple cmd_vel publishers is enabled
[ INFO] [1534532129.826987248]: Base frame_id set to base_link
[ INFO] [1534532129.827955590]: Odometry frame_id set to odom
[ INFO] [1534532129.828735530]: Publishing to tf is enabled
[ INFO] [1534532129.850198489]: Odometry params : wheel separation 0.525, wheel radius 0.161
[ INFO] [1534532129.853101519]: Adding left wheel with joint name: wheel_left_joint and right wheel with joint name: wheel_right_joint
[INFO] [1534532129.880613]: Controller Spawner: Loaded controllers: diff_drive_controller
[INFO] [1534532129.980640]: Started controllers: diff_drive_controller

But in another computer Dynamic Reconfigure is called and change all the parameters.

javier@javier-desktop:~/catkin_ws$ roslaunch sara_control control_launch.launch
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http ...
(more)
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Comments

Hello, I know this is not the answer of your problem but can I ask you something, how did you write the Hardware interface? Bacuase I am stuck here I dont know shall I use Hardware_interface and how ? please can you provide me with details

ShehabAldeen gravatar imageShehabAldeen ( 2018-08-18 09:58:22 -0500 )edit

Hi. This is the post that help me to run the Hardware interface. https://answers.ros.org/question/2895...

See this too: https://slaterobots.com/blog/5abd8a1e...

If you need more help, send me a comment.

javi_tecla gravatar imagejavi_tecla ( 2018-09-12 11:15:18 -0500 )edit

Hello javi_tecla, I was wondering if you could solve your problem? I am basically stuck at the same step the only difference is that I am only using one PC and Dynamic Reconfigure is called and changes all the parameters.

Toba gravatar imageToba ( 2018-11-19 01:08:15 -0500 )edit