Problem with hanging node using pigpio
Hi, I'm buiding four motor robot based on rpi3b+ and ros melodic. I'm also using pigpio library to create pwm waveforms to control motors. When I run motorsnode and encodersnode after few seconds to few minutes everything is good. After that time motor_node hangs without any output. When I kill it with rosnode kill it shows me this traceback:
Traceback (most recent call last): File "/home/ubuntu/catkinws/src/roscomm/clients/rospy/src/rospy/core.py", line 520, in signalshutdown h() File "/home/ubuntu/catkinws/src/AFMERtest/src/motornode.py", line 331, in shutdown self.setspeed(0, 0, 0, 0) File "/home/ubuntu/catkinws/src/AFMERtest/src/motornode.py", line 242, in setspeed self.pwm.update() File "/home/ubuntu/catkinws/src/AFMERtest/src/wavePWM.py", line 278, in update self.pi.wavedelete(self.oldwid) File "/usr/local/lib/python3.6/dist-packages/pigpio.py", line 2377, in wavedelete return u2i(pigpiocommand(self.sl, _PICMDWVDEL, waveid, 0)) File "/usr/local/lib/python3.6/dist-packages/pigpio.py", line 1011, in u2i raise error(errortext(v)) pigpio.error: 'non existent wave id'
Rosnode list now is showing strange nodes named:
/rostopic19721608297097342
/rostopic20011608297153368
/rostopic20491608297269198
motorsnode: https://github.com/embeddedadam/AFMERtest/blob/main/src/motor_node.py
encodersnode: https://github.com/embeddedadam/AFMERtest/blob/main/src/encoder_node.py
Im using SSH connection. I wasted few days looking over internet after this and have no idea what it can be or how to debug it. Problem occurs also on kinetic.
Asked by embeddedadam on 2020-12-18 09:44:34 UTC
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