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Create 2 not responding to create_autonomy ca_driver on ROS raspberry pi 3 B+

asked 2019-12-28 15:27:00 -0600

lotharchris gravatar image

updated 2019-12-29 09:27:07 -0600

Steps taken so far:

I have downloaded the raspberry pi image and VM image as per: http://wiki.ros.org/ROSberryPi/Instal...

https://downloads.ubiquityrobotics.com/

pi image extracted to raspberry pi 3 B+.

VM image extracted to Oracle VM VirtualBox

I installed the create_autonomy package: http://wiki.ros.org/create_autonomy

I created a cable from Create 2 DIN plug to the pi USB using FTDI level shifter from 5V (create 2) to 3.3V (raspberry pi).

I turn on the create 2 and plug in the serial/USB cable from the create 2 and the pi, and type:

ls /dev

it returns ttyUSB0

typing:

lsusb

returns the FTDI controller info

I run the roslaunch ca_driver create_2.launch from the VM (ssh'd to the raspberry pi), but it does not connect to the Create 2.

getting this error:

[create::Serial] failed to receive data from Create. Check if robot is powered!

On the FTDI controller, I can see the send and receive LED lights light up when the program is sending data to the create 2.

I have checked the cable pinout and verified TX and RX are correct. Also checked for continuity of the TX and RX wires with a ohm meter.

I download, extracted and ran the Create2CSharp_DrivingProgram.exe as per the pdf and it works fine. https://docs.google.com/viewer?url=ht...

running roslaunch ca_driver create_2.launch from terminal...

ubuntu@buddybot:~/create_ws/src/create_autonomy/ca_driver/config$ roslaunch ca_driver create_2.launch
... logging to /home/ubuntu/.ros/log/6fb2a544-d0dc-11e5-a2fa-c9da98e38caa/roslaunch-buddybot-2311.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.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
started roslaunch server http://buddybot.local:44067/

SUMMARY
========

PARAMETERS
 * /ca_driver/base_frame: base_footprint
 * /ca_driver/dev: /dev/ttyUSB0
 * /ca_driver/latch_cmd_duration: 0.2
 * /ca_driver/loop_hz: 10.0
 * /ca_driver/odom_frame: odom
 * /ca_driver/publish_tf: True
 * /ca_driver/robot_model: CREATE_2
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    ca_driver (ca_driver/ca_driver)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)

ROS_MASTER_URI=http://buddybot.local:11311

process[ca_driver-1]: started with pid [2331]
process[robot_state_publisher-2]: started with pid [2333]
[ INFO] [1577558516.039614572]: [CREATE] "CREATE_2" selected
[create::Serial] failed to receive data from Create. Check if robot is powered!
[create::Create] retrying to establish serial connection...
[create::Serial] serial error - Operation canceled
[create::Serial] failed to receive data from Create. Check if robot is powered!
[create::Create] retrying to establish serial connection...
[create::Serial] serial error - Operation canceled
[create::Serial] failed to receive data from Create. Check if robot is powered!
[create::Create] retrying to establish serial connection...
[create::Serial] serial error - Operation canceled
[create::Serial] failed to receive data from Create. Check if robot is powered!
[create::Create] failed to connect over serial: timeout
[create::Serial] serial error - Operation canceled
[create::Serial] failed to receive data from ...
(more)
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answered 2020-01-06 06:39:59 -0600

lotharchris gravatar image

After troubleshooting with realterm, I determined the create 2 cable that came with my create 2 was bad. The receive channel/wire had intermittent connection. I contacted irobot support, they sent me a new cable, and the create 2 connects now and shows the battery level.

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Asked: 2019-12-28 15:27:00 -0600

Seen: 27 times

Last updated: Jan 06