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2019-07-23 04:52:21 -0500 | answered a question | General understanding of ros-canopen I don't know if you have already managed to control your motors but I will answer anyway. So... The .eds/.dcf files |
2019-07-22 11:58:48 -0500 | commented answer | motor oscillates after diff_drive_controller configuration I already solved my problem, you were right Thank you! Actually I have deleted the limits from the URDF but not from the |
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2019-07-22 11:56:19 -0500 | marked best answer | motor oscillates after diff_drive_controller configuration Hello, I have configured the canopen_motor_node of my robot to use a DiffDriveController, but once I start publishing angular velocities in the /cmd_vel topic the movement is not smooth, i.e. the robot turns then stops, then continues the angular movement, then stops and so on. After a while it gets stable. I thought it could be a problem related to the pid controller embedded inside the motors (Dunkermotoren BG75CI) because the movement seems to be like an underdamped second order response trying to reach the desired velocity value but when I used socketcan_bridge_node to send velocity values it works properly. So now i think it could be related to the differential drive controller or to the frequency of publishing. I put here my controller configuration Also my canopen configuration Edit1: I also let you the EDS dictionary of my motors. Edit 2: I plot the target velocity value, the actual velocity ... (more) |
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2019-07-18 05:13:38 -0500 | edited question | motor oscillates after diff_drive_controller configuration motor oscillates after diff_drive_controller configuration Hello, I have configured the canopen_motor_node of my robot |
2019-07-18 05:12:36 -0500 | edited question | motor oscillates after diff_drive_controller configuration motor oscillates after diff_drive_controller configuration Hello, I have configured the canopen_motor_node of my robot |
2019-07-16 08:30:41 -0500 | received badge | ● Popular Question (source) |
2019-07-10 05:42:58 -0500 | commented question | motor oscillates after diff_drive_controller configuration Yes! Thank you Mathias. I updated the post with the URDF directory. The joints are in the blue_wheel.urdf |
2019-07-10 05:27:28 -0500 | commented question | motor oscillates after diff_drive_controller configuration Yes! Thank you Mathias. I updated the post with the URDF directory. |
2019-07-10 05:25:41 -0500 | edited question | motor oscillates after diff_drive_controller configuration motor oscillates after diff_drive_controller configuration Hello, I have configured the canopen_motor_node of my robot |
2019-07-09 03:33:18 -0500 | edited question | motor oscillates after diff_drive_controller configuration motor oscillates after diff_drive_controller configuration Hello, I have configured the canopen_motor_node of my robot |
2019-07-08 03:36:23 -0500 | edited question | motor oscillates after diff_drive_controller configuration motor oscillates after diff_drive_controller configuration Hello, I have configured the canopen_motor_node of my robot |
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2019-07-08 03:31:34 -0500 | edited question | motor oscillates after diff_drive_controller configuration motor oscillates after diff_drive_controller configuration Hello, I have configured the canopen_motor_node of my robot |
2019-07-03 09:40:59 -0500 | asked a question | motor oscillates after diff_drive_controller configuration motor oscillates after diff_drive_controller configuration Hello, I have configured the canopen_motor_node of my robot |
2019-05-03 12:03:10 -0500 | commented answer | Send data thanks to PDO protocol Hello, how do you configure the mapping inside the EDS file? Once configured, to send a PDO you still have to use the sr |
2019-05-03 11:50:19 -0500 | commented answer | Send data thanks to PDO protocol Hello, how do you configure the mapping inside the EDS file? Once configured, to send a PDO you still have to use the sr |
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2019-04-26 09:54:21 -0500 | commented question | How to use ros_canopen pkg? Hey did you find an answer? I have the same issue with different motors and the same usb-can converter. I was reading th |
2019-04-23 03:54:41 -0500 | asked a question | Reading a topic inside a service call Reading a topic inside a service call Hello! I want to implement a service that when called read the position of the rob |