callum91's profile - activity

Hi Everyone,

Unsure whether this is even possible or not but just wondering if anyone has tried using the Move-It planning libraries outside of ROS? Specifically looking at trying to import them into Unity3d in order to simulate an industrial robot?

Does anyone have any idea where I could start with this or any other ideas? I have the robot working in ROS with move it planning and really like the IK and obstacle detection aspects and so would like to use this in Unity for a specific application.

Thanks, Callum

Hi everyone,

I am attempting to use the socketCAN bridge from ros_canopen to communicate with two motor drivers front and rear on my robot. I am able to succesfully communicate with one of the motor drivers no problems at 125Kb and get no errors from this. The problem is when I wire the second motor driver onto the CAN bus i get this error here printed 4 times after a random amount of time.

[ERROR] [1520931505.862666540]: Error: controller problems;, asio: Success

Followed by the warning:

[ WARN] [1520931505.863486242]: Received frame is error: 20000000#0008000000000000

To me this seems like the two motor drivers on the CAN bus are trying to write over the top of each other as the address and message does not make sense. Is this likely to be the issue or should I be looking elsewhere?

On the linux end we are using an odroid xu4 with an mcp2515 board for the can bus communication. Any help with this would be much appreciated.

Thanks, Callum

MoveIt velocity scaling for Cartesian Path Hi Everyone, I am really happy with the cartesian path planning built into m

Using Move-It IK outside of ROS (Unity3d) Hi Everyone, Unsure whether this is even possible or not but just wondering i

SocketCAN bridge error when multiple nodes on bus Hi everyone, I am attempting to use the socketCAN bridge from ros_can

SocketCAN bridge error when multiple nodes on bus Hi everyone, I am attempting to use the socketCAN bridge from ros_can

SocketCan Bridge error when connecting multiple nodes to bus Hi everyone, I am attempting to use the socketCAN bridge f

Hi everyone,

I am working on a robotics project based in ROS where we started with out simulation in Gazebo and built all our algorithms around the simulation while waiting for our actual robot to arrive.

Now that the actual robot has arrived we are moving away from the gazebo model in order to implement on the real robot. We have been using ros_control in order to control all of the motors on the robot (velocity controlled motors). What I have been working on most recently is converting the gazebo_ros control package so that the code we have currently written will all work with the real robot. I have managed to write up the hardware interface so that all the joints are being correctly identified and read in from the urdf files and robot state publisher is able to receive and publish the joint states being published.

The controller manager is also being instantiated from within my newly written node to run all of the controllers. The issue I am currently having is that when launching all of the nodes the controller spawner is recognising the controller manager as it is finding the various services required but gets stuck trying to load the controller.

The terminal output just shows:

Loading controller: joint_back_left_wheel_controller

When we launch the gazebo simulated version the spawner does not get stuck at this stage and is able to launch all 6 of the controllers that have been setup in a .yaml configuration file.

Does anyone know what could be the issue here? Or if theres anything I can check that will be helpful to debugging this issue.

Thanks for you help in advance.

*EDIT 1*

The above issue was solved by gvdhoorn's suggestion below of creating the multi-threaded spinner. However now it is getting locked after loading all the controllers where it prints:

Controller Spawner: Loaded Controllers:

and then lists the loaded controllers.

When I shut down the node the following is printed out.

  Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/controller_manager/spawner", line 207, in <module>
    if __name__ == '__main__': main()
  File "/opt/ros/kinetic/lib/controller_manager/spawner", line 199, in main
    resp = switch_controller(loaded, [], 2)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 435, in __call__
    return self.call(*args, **kwds)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 523, in call
    raise rospy.exceptions.ROSInterruptException("node shutdown interrupted service call")
rospy.exceptions.ROSInterruptException: node shutdown interrupted service call

Does anyone know how I might go about solving this? thanks

I believe I have managed to fix this issue. The problem came because I was instantiating the hardware interface through

As I tried testing the ros control boilerplate from here https://github.com/davetcoleman/ros_control_boilerplate/blob/ki

I found this thread here https://answers.ros.org/question/119316/using-controller-manager-and-getting-it-to-work/ which

Controller Spawner stuck while loading Hi everyone, I am working on a robotics project based in ROS where we started wi

Controller Spawner stuck while loading Hi everyone, I am working on a robotics project based in ROS where we started wi

Hi gvdhoorn, Thanks for your quick reply! That has fixed where it was deadlocked before and I am able to load all the co

Controller Spawner stuck while loading Hi everyone, I am working on a robotics project based in ROS where we started wi

Controller Spawner stuck while loading Hi everyone, I am working on a robotics project based in ROS where we started wi

Controller Spawner stuck while loading Hi everyone, I am working on a robotics project based in ROS where we started wi

Error between gazebo ground truth and odometry but shows correct in RVIZ Hi Everyone, Im currently setting up an AGV st