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2018-11-29 01:39:58 -0500 | received badge | ● Good Question (source) |
2018-04-29 22:10:14 -0500 | marked best answer | Mapping between PWM counts and joint angle in ros_canopen I'm using ros_canopen, which is an awsome package, to communicate with my robot. By far, I modified the below yaml parameters to deal with the mapping between PWM counts and jont angle. Is there a way to use transmission ratio in URDF and define only a parameter of encoder resolution in the above yaml? Thank you in advance. |
2017-11-28 13:00:09 -0500 | marked best answer | ros_canopen did not receive a response message Hi, I trying to use ros_canopen to control a robot with canopen motors. I use indigo. I run candump in a terminal. When I connect the motor to power,candump receives: So I suppose the hardware connection is correct. However when I load parameters and then run canopen_motor_node , it gave an error: The configuration of CAN bus is simple and is Here.The eds is provided by Copley. I've tried to read the code where produces the "Did not receive a response message" but could find out how to solve this problem. Any help will be appreciated .Thank you. |
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2017-09-23 09:05:07 -0500 | marked best answer | How to used ROS_CANopen? Hi. I am quite new to ROS . I want to use ros_canopen package to communicate with the robot in my lab, i.e. build a ros controller for it. However , I cant find a more detail tutorial to use it than the general intro on wiki.org . HardWare and resources:
ros_canopen seems only support socketcan![](http://wiki.ros.org/ros_canopen? How can I set up my laptop to communicate with CAN bus. I use Ubuntu 14.04 with Indigo installed. Many thanks. |
2017-09-23 08:11:23 -0500 | received badge | ● Nice Question (source) |
2017-09-23 07:16:15 -0500 | marked best answer | No known controllers and their joints in MoveIt! when connecting real robot. Hi, I was setting up MoveIt! for my robot, which uses ros_canopen as its driver. I used moveit_setup_assistant to generate the moveit_config package and follow this tutorial to configure MoveIt! to talk to the real robot. Rostopic list shows that the FollowJointTrajectory action on the server side(robot driver) is ready: My controller.yaml for the MoveIt side is When I clicked the execute button in rviz, errors showed up: The moveit_controller_manager.launch starts the moveit side for the system. I use Indigo and Ubuntu14.04. Any help will be much appreciated. |
2017-09-13 19:36:43 -0500 | marked best answer | ROS_CANopen can't start velocity_controller and trajectory_controller Hi, I am working with ros_canopen to control a robot arm. The arm uses Copley drives. Please check out the github repo that I'm working on here.
Are these problems caused by wrong configuration of my dcf file? I mapped the PDOs according to the Copley programming manual p. 25 Many thanks. |
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2017-04-10 22:31:32 -0500 | commented question | How to launch a roslaunch in Qt with a terminal (GUI) ? Roslaunch provides Python API (Example). One possible solution is to call roslaunch Python API from cpp(call Python from cpp). |
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2017-01-06 08:16:07 -0500 | commented question | ar_track_alvar mistake on id The size of the tag and camera resolution matter. I used tag in size of 4cm and the id recognition is terrible. I have tried Xtion and primesense Carmine and the resolution is not enough for such small tag. Right now I'm trying to calibrate my Kinect2 to do the job. |
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2017-01-01 09:42:35 -0500 | answered a question | tf::poseKDLToMSG throwing errors Try add |
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2016-12-31 03:01:45 -0500 | commented answer | ros_canopen dcf_overlay setting Dynamic exception type: boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<std::bad_cast> > std::exception::what: std::bad_cast [canopen::tag_objectdict_key*] = 60c1sub1 |
2016-12-31 02:56:20 -0500 | commented answer | ros_canopen dcf_overlay setting You are right. I used the Schunk DCF because the Copley eds was faulty. I use a modified Copley eds now, and initialization produces: |
2016-12-30 08:31:20 -0500 | received badge | ● Popular Question (source) |
2016-12-30 07:59:26 -0500 | commented answer | ros_canopen dcf_overlay setting candump showed |
2016-12-30 07:34:11 -0500 | commented answer | ros_canopen dcf_overlay setting Thank you. Now I've changed the PDO mappings(github.com/Linkeway/BIRL_modular_robot/blob/master/birl_module_canopen/config/manipulator5d_motors.yaml). |
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2016-12-30 02:29:29 -0500 | asked a question | ros_canopen dcf_overlay setting Hi, I'm using ros_canopen to control my robot. The joint_position_controller works but I get stuck with joint_trajectory_controller. I set PDO mapping through dcf_overlay : The candump message confused me because: 1.How come the first two bytes of the RPDO1 message differ with that of RPDO2 since they both are mapped to control word? 2. Thank you in advance. |
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2016-12-29 05:22:55 -0500 | edited question | canopen_motor_node doesn't with dcf configuration Hi, I have successfully used ros_canopen to talk to my robot through position_controller. However, I failed to use joint_trajectory_controller(PVT operation mode) which involves PDO communication. candump showed that RPDO2 data on the CAN bus: According to the dcf file I used to configure canopen_motor_node, RPDO2 is mapped to 0x6040(16bit) and 0x6060(8bit). So COB-id 301 should be transmitting 24 bits. Is it a problem from the dcf interpreter? For your reference, I use Copley drive so I am configuring PDOs on the canopen_motor_node side according to the Copley Manual(see p25). I'm using indigo and Ubuntu14.04. Any help will be much appreciated. |