Problems implementing KevinO's ROS Hexapod Stack on PhantomX

asked 2019-10-21 15:56:14 -0600

Rangwala gravatar image

updated 2019-10-23 02:36:57 -0600

Hello Everyone,

I am trying to implement KevinO's ROS Hexapod Stack on my Linux machine which has Ubuntu 16.04 and ROS Kinetic running. The stack has successfully build. I am using the PhantomX Hexapod Mark-III equipped with an Arbotix-M Robocontroller to control all 18 servos (Dynamixel AX-18A) and Arbotix Commander or it's Virtual Commander to send commands to ArbotiX-M board.

I had also added to the hexapod_ros-master/hexapod_description/params/phantomX.yaml file:

port: /dev/ttyUSB0
read_rate: 15
write_rate: 25

This is because the port /dev/ttyUSB0 is where the FTDI Cable is attached on my Linux machine, the other end of which is connected to the arbotix-m board. The Arbotix-M board has the Commander Crawler code uploaded on it. In this configuration the hexapod is able to walk using the Virtual Commander. When I launch the hexapod_full.launch in the hexapo_ros stack in terminal using the command:

roslaunch hexapod_bringup hexapod_full.launch config:=phantomX joy_mapping:=joystick_ds3

Then the Rviz simulation of the hexapod is launched automatically. On walking the PhantomX hexapod using the Virtual Commander in real life, the hexapod in rviz simulation does not move.

Below the output in the terminal can be seen:

hexapod_bringup hexapod_full.launch config:=phantomX joy_mapping:=joystick_ds3


SUMMARY
========

CLEAR PARAMETERS
 * /ekf_localization/

PARAMETERS
 * /ALARM_LED: 17
 * /ALARM_SHUTDOWN: 18
 * /AX_CCW_COMPLIANCE_MARGIN: 27
 * /AX_CCW_COMPLIANCE_SLOPE: 29
 * /AX_CW_COMPLIANCE_MARGIN: 26
 * /AX_CW_COMPLIANCE_SLOPE: 28
 * /BAUD_RATE: 4
 * /BODY_MAX_PITCH: 0.13962634016
 * /BODY_MAX_ROLL: 0.13962634016
 * /BODY_ROTATION_BUTTON: 8
 * /CCW_ANGLE_LIMIT_H: 9
 * /CCW_ANGLE_LIMIT_L: 8
 * /COMPENSATE_INCREMENT: 0.000174532925199
 * /COMPENSATE_TO_WITHIN: 0.0174532925199
    etc

NODES
  /camera/
    camera_nodelet_manager (nodelet/nodelet)
    depth_metric (nodelet/nodelet)
    depth_metric_rect (nodelet/nodelet)
    depth_points (nodelet/nodelet)
    depth_rectify_depth (nodelet/nodelet)
    depth_registered_sw_metric_rect (nodelet/nodelet)
    driver (nodelet/nodelet)
    points_xyzrgb_sw_registered (nodelet/nodelet)
    register_depth_rgb (nodelet/nodelet)
    rgb_rectify_color (nodelet/nodelet)
  /rtabmap/
    data_odom_sync (nodelet/nodelet)
    rtabmap (rtabmap_ros/rtabmap)
    standalone_nodelet (nodelet/nodelet)
  /
    Hexapod_Controller (hexapod_controller/hexapod_controller)
    Hexapod_Sounds (hexapod_sound/hexapod_sound)
    Hexapod_Teleop_Joystick (hexapod_teleop_joystick/hexapod_teleop_joystick)
    ImuFilterNodelet (nodelet/nodelet)
    PhidgetsImuNodelet (nodelet/nodelet)
    Sound_Play (sound_play/soundplay_node.py)
    depthimage_to_laserscan (nodelet/nodelet)
    ekf_localization (robot_localization/ekf_localization_node)
    imu_manager (nodelet/nodelet)
    ps4 (ps4_ros/ps4_ros)
    ps4_joy (joy/joy_node)
    robot_state_publisher (robot_state_publisher/state_publisher)
    rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [5114]
ROS_MASTER_URI=http://134.61.134.226:11311

setting /run_id to a0f47d5a-f417-11e9-bdf4-5800e3d73299
process[rosout-1]: started with pid [5127]
started core service [/rosout]
process[Sound_Play-2]: started with pid [5131]
process[Hexapod_Sounds-3]: started with pid [5132]
process[ps4_joy-4]: started with pid [5133]
ERROR: cannot launch node of type [ps4_ros/ps4_ros]: ps4_ros
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/taher-rangwala/hexapod_node/src
ROS path [2]=/opt/ros/kinetic/share
[ERROR] [1571671805.634916774]: Couldn't open joystick /dev/input/js1. Will retry every second.
process[Hexapod_Teleop_Joystick-6]: started with pid [5179]
process[Hexapod_Controller-7]: started with pid [5180]
process[robot_state_publisher-8]: started with pid [5228]
process[rviz-9]: started with pid [5229]
process[imu_manager-10]: started with pid [5230]
process[PhidgetsImuNodelet-11]: started with pid [5231]
process[ImuFilterNodelet-12]: started with pid [5232]
process[ekf_localization-13]: started with pid [5235]
process[camera/camera_nodelet_manager-14]: started with pid [5245]
process[camera/driver-15]: started with pid [5246]
process[camera/rgb_rectify_color-16]: started with pid [5247]
process[camera/depth_rectify_depth-17]: started with pid [5248]
process[camera/depth_metric_rect-18]: started with pid [5249 ...
(more)
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