Arduino rosserial not updating (not in-sync) with ROS movements [closed]

asked 2018-12-04 23:12:30 -0600

pranavb104 gravatar image

updated 2018-12-04 23:13:14 -0600

Hello,

I am trying to make a 3 link robot arm (with 3 steppers) move in a single plane. I am facing some problems when interfacing it with my Arduino Uno.

The robot -arm moves, but sometimes it goes out of sync and it does not move to it's final position for the corresponding movement in ROS. I have debugged the issue and these are the prints from ROS publisher.

[ INFO] [1543985383.681003214]: total: 1845
[ INFO] [1543985383.681053201]: Done conversion to /joint_steps

[ INFO] [1543985383.681491597]: total: 1430
[ INFO] [1543985383.681544521]: Done conversion to /joint_steps

[ INFO] [1543985383.886151296]: total: 1080
[ INFO] [1543985383.886732527]: Done conversion to /joint_steps

[ INFO] [1543985383.892410070]: total: 781
[ INFO] [1543985383.894085465]: Done conversion to /joint_steps
[ INFO] [1543985384.080022691]: Published to /joint_steps

[ INFO] [1543985384.080923482]: total: 511
[ INFO] [1543985384.080969519]: Done conversion to /joint_steps

[ INFO] [1543985384.081409690]: total: 381
[ INFO] [1543985384.081448439]: Done conversion to /joint_steps
[ INFO] [1543985384.280018187]: Published to /joint_steps

[ INFO] [1543985384.281263874]: total: 271
[ INFO] [1543985384.281349498]: Done conversion to /joint_steps

[ INFO] [1543985384.282131103]: total: 161
[ INFO] [1543985384.282210489]: Done conversion to /joint_steps
[ INFO] [1543985384.480194118]: Published to /joint_steps

[ INFO] [1543985384.481680640]: total: 51
[ INFO] [1543985384.481775764]: Done conversion to /joint_steps

[ INFO] [1543985384.482577219]: total: 3
[ INFO] [1543985384.482759154]: Done conversion to /joint_steps

The final position should be 3 , but looking at the message published from the arduino, the final value is 1430.

data: 9537
---
data: 9426
---
data: 9206
---
data: 8875
---
data: 8260
---
data: 6439
---
data: 1430
---

Is this a possible problem of the arduino not able to receive all the messages on time? My ros piblisher works at 10Hz(max) and my arduino loop at 50Hz.

edit retag flag offensive reopen merge delete

Closed for the following reason duplicate question by pranavb104
close date 2018-12-06 21:06:37.827943