robbie.sharma's profile - activity

I'm making a ROS Port of the Commander.ino though I'm running into a typecasting issue. I've posted the problem on the Trossen forums:

http://forums.trossenrobotics.com/showthread.php?6283-ROS-Port-of-Commander.ino-for-PhantomX-Reactor-Arm&p=58649#post58649

I'm using the PhantomX_Reactor_IK.ino firmware that is uploaded to the Arbotix and creating a ROS version of the Commander code. I had a few questions.

1) Do I need to create my own ROS package/code to interface to the PhantomX or is there code already made? I was going to "copy/paste" the Commander.ino code into my own ROS package by creating the appropriate publisher/subscriber methods.

2) In the variable right_V = (1023 - analogWrite(RIGHT_V) -512)/5 + 128, what do the numbers/offset mean? What is it outputting? This is taken from Commander.ino

What is the easiest, and quickest way to do this?

I've built an SCI-RS-232-USB cable for connecting to my Roomba using the following tutorial:

blog.makezine.com/2008/02/29/how-to-make-a-roomba-seri/

The cable works as I tested it on my Windows machine using the RealTerm Serial Terminal. I was able to make the roomba move and beep by sending raw opcodes. However it should be noted, I could only send packets if the RTS line was cleared, and only receive sensor packets if the RTS line was set.

I've tried to change the hardware and software control options in minicom to try to get a different response; no luck. Basic troubleshooting - disconnecting, power cycling, etc.

Any help to remedy the problem is appreciated!

Here is the necessary info from the USB-Serial interface

USB-Serial Permissions

dmesg | grep tty

[    1.113447] tty tty34: hash matches
[ 1142.333506] usb 2-1: FTDI USB Serial Device converter now attached to ttyUSB0

ls -l /dev/ttyUSB0
crwxrwxrwx 1 root dialout 188, 0 May 26 18:19 /dev/ttyUSB0

Minicom configuration

A -    Serial Device      : /dev/ttyUSB0                              |
    | B - Lockfile Location     : /var/lock                                 |
    | C -   Callin Program      :                                           |
    | D -  Callout Program      :                                           |
    | E -    Bps/Par/Bits       : 115200 8N1                                |
    | F - Hardware Flow Control : No                                        |
    | G - Software Flow Control : No

Rosrun Error

    rosrun roomba_500_series roomba500_light_node

    [ INFO] [1369617555.945517395]: Roomba for ROS 2.01
    [FATAL] [1369617555.969045803]: Could not connect to Roomba.
    [FATAL] [1369617555.969251975]: BREAKPOINT HIT
        file = /home/trevor/catkin_ws/trunk/roomba_500_series/src/roomba500_lightweight.cpp
        line=90

Trace/breakpoint trap (core dumped)