Sidd's profile - activity

Thanks for the pointers @Tom Moore, your suggestions helped narrow down the problem. I got rid of the map frame EKF alt

Thanks for the pointers @Tom Moore, your suggestions helped narrow down the problem. I got rid of the map frame EKF alt

Thanks for the pointers @Tom Moore, your suggestions helped narrow down the problem. I got rid of the map frame EKF alt

Thanks for the pointers @Tom Moore, your suggestions helped narrow down the problem. I got rid of the map frame EKF alt

Here are a couple of things that helped me - I reduced the size of my local costmap by half, and increased the resolutio

I'm experiencing a very similar problem. Did you figure this out? I found that cmd_vel msgs are published once every 20

LIDAR data rotates when using EKF from Robot Localization Hi! We've been trying to use the Robot Localization package,

LIDAR data rotates when using EKF from Robot Localization Hi! We've been trying to use the Robot Localization package,

LIDAR data rotates clockwise when using EKF from Robot Localization Hi! We've been trying to use the Robot Localization

LIDAR data rotates clockwise when using EKF from Robot Localization Hi! We've been trying to use the Robot Localization

LIDAR data rotates clockwise when using EKF from Robot Localization Hi! We've been trying to use the Robot Localization

How can I get the local planner to turn in place and then head towards a goal instead of moving forward and turning at the same time? I am facing issues when the robot is able to reach a goal but cannot come back to the same point by doing a turn in place and following a similar global plan. The local planner tries to make the robot move forward and turn. But it then comes too close to an obstacle and get stuck.

Answering my own question, thanks to @GuillaumeB for the pointers. Essentially the problem was that my EDS file needed

I have a Bechoff CANopen bus terminal I'm trying to interface with. However, the driver fails on init and faults with the following error. I'm fairly new to CAN and am having a hard time debugging this.

Snapshot of terminal upon launching the canopen_chain_node -

sidd@ubuntu:~$ roslaunch canopen_chain_node chain.launch yaml:=path/to/bus.yaml
[ INFO] [1576523526.299477632]: Initializing...
[ INFO] [1576523526.301994944]: Current state: 1 device error: system:0 internal_error: 0 (OK)
[ INFO] [1576523526.302596992]: Current state: 2 device error: system:0 internal_error: 0 (OK)
[ INFO] [1576523527.617270944]: Current state: 2 device error: system:125 internal_error: 0 (OK)
[ INFO] [1576523527.617470912]: Current state: 0 device error: system:125 internal_error: 0 (OK)
[ INFO] [1576523527.617731168]: Current state: 0 device error: system:0 internal_error: 0 (OK)
[ INFO] [1576523527.617830624]: Current state: 0 device error: system:0 internal_error: 0 (OK)
[ERROR] [1576523527.618035712]: CAN not ready
[ERROR] [1576523527.618344320]: Initializing failed: PDO error: _Map_base::at

The bus.yaml file with parameters looks like this -

bus:
    device: can0
    loopback: false
sync:
    interval_ms: 10
#    update_ms: 10
    overflow: 0
heartbeat:
    rate: 20
    msg: "707#00"

nodes:
    node1:
        id: 7
        eds_file: "/home/sidd/ws/install/share/sidd_canopen/BK5120.eds"
        publish: ["2000sub1!"]

Upon calling the /driver/init service, I get the error -

sidd@ubuntu:~$ rosservice call /driver/init
success: False
message: "PDO error: _Map_base::at"

I tried doing a candump to get the raw frames, and this is what it prints out -

sidd@ubuntu:~$ candump can0
can0  707   [1]  00
can0  000   [2]  82 07
can0  707   [1]  00
can0  607   [8]  2B 17 10 00 00 00 00 00
can0  587   [8]  60 17 10 00 00 00 00 00
can0  000   [2]  02 07

I've also monitored the error counters by running and don't see anything suspicious -

sidd@ubuntu:~$ ip -details -statistics link show can0
8: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN mode DEFAULT group default qlen 10
    link/can  promiscuity 0 
    can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0 
    bitrate 250000 sample-point 0.875 
    tq 20 prop-seg 87 phase-seg1 87 phase-seg2 25 sjw 1
    mttcan: tseg1 2..255 tseg2 0..127 sjw 1..127 brp 1..511 brp-inc 1
    mttcan: dtseg1 1..31 dtseg2 0..15 dsjw 1..15 dbrp 1..15 dbrp-inc 1
    clock 50000000
    re-started bus-errors arbit-lost error-warn error-pass bus-off
    0          0          0          0          0          0         numtxqueues 1 numrxqueues 1 gso_max_size 65536 gso_max_segs 65535 
    RX: bytes  packets  errors  dropped overrun mcast   
    57         15       0       0       0       0       
    TX: bytes  packets  errors  dropped carrier collsns 
    72         18       0       0       0       0

EDS file I'm using attached as a github gist

I see this github issue here with the same error code, but that's not very useful and I doubt the issues are related.

Any help would be appreciated!

Answering my own question, thanks to @GuillaumeB for the pointers. Essentially the problem was that my EDS file needed

Have you followed instructions from here? It looks like it's not find certain ros2 packages. Have you sourced your ros2_

Is there a way to update a package.xml from a python script? I know that you can catkin_pkg to parse a package.xml and retrieve it's contents as a catkin_pkg.Package. I'm wondering if there's a method to go the opposite way - if I have a catkin_pkg.Package and I want to create a new package.xml. Better still update the existing one with my changes from the script.

Thanks for the link, I'll take a look at it. I modified the original EDS file from the Beckhoff website to remove the 60

I did however deactivate the 1a00sub2, (set it's default value to 0x0 and it looks like it initialized ok... process[ca

I did however deactivate the 1a00sub2, (set it's default value to 0x0 and it looks like it initialized ok... process

But according the eds I used the 6000 subindex2 does exist here

I see. Ok I updated the eds file here. I now run into the error - [ INFO] [1576597003.552654656]: Initializing... [ IN

ROS_CANopen faults on init. I have a Bechoff CANopen bus terminal I'm trying to interface with. However, the driver fai

ROS_CANopen faults on init. I have a Bechoff CANopen bus terminal I'm trying to interface with. However, the driver fai

ROS_CANopen faults on init. I have a Bechoff CANopen bus terminal I'm trying to interface with. However, the driver fai

ROS_CANopen faults on init. I have a Bechoff CANopen bus terminal I'm trying to interface with. However, the driver fai

ROS_CANopen faults on init. I have a Bechoff CANopen bus terminal I'm trying to interface with. However, the driver fai

Effort is between 0 and 100 (units are %) I'm not sure if the effort unit is correct either. Isn't it in N? And I'm

Effort is between 0 and 100 (units are %) I'm not sure if the effort unis is correct either. Isn't it in N? And I'm

effort (required) - An attribute for enforcing the maximum joint effort (|applied effort| < |effort|). See safety

effort (required) - An attribute for enforcing the maximum joint effort (|applied effort| < |effort|). See sa

effort (required) - An attribute for enforcing the maximum joint effort (|applied effort| < |effort|). See safety lim

Looks like the error is originating from openCV. Can you verify you're a compatible opencv version?

Did you make any progress with this?