No luck setting pulse to 1 (I'm assuming you're referring to the PULSE parameter in robot_params.h) -Dan On 4/23/10 2:39 PM, David Feil-Seifer wrote: > I wrote the node, but a while ago, so I can't be sure, but Ithink that > I sent a "pulse" message every 1s to keep that watchdog from kicking > in. However, by default it is turned off. Try setting the "pulse" > parameter to 1. > > -Dave > > On Fri, Apr 23, 2010 at 8:24 AM, Brian Gerkey wrote: > >> It's been a long time since I used a Pioneer, and I haven't looked at >> the node that you're using, so this is shooting in the dark: >> >> If I recall correctly, the microcontroller implements a watchdog that >> will stop the motors if it hasn't heard a velocity command over the >> serial line after a certain amount of time. If you send commands too >> slowly, the watchdog would kick in between commands, causing the robot >> to move a bit, halt, move a bit, halt, etc. I believe that the >> watchdog is configurable, or at least can be turned on or off, which >> might account for the different in behavior between your robots. >> >> Something to try is to make the node resend the last received velocity >> to the robot at a relatively high rate (10Hz should be enough). Of >> course, the node should then implement its own watchdog, which would >> send zero velocities if it hasn't received a command via ROS after >> some time. >> >> brian. >> >> On Fri, Apr 23, 2010 at 6:56 AM, Tucker Hermans wrote: >> >>> Dan, >>> Without being able to investigate your setup further, the only thing I can >>> think is that the commands being sent over the serial connection are either >>> experiencing high latency or are being sent to infrequently, so that the >>> velocity commands sent to the microcontroller are far enough apart that you >>> get the stuttering effect. >>> I tried reproducing this by setting a very high time (30s as opposed to 2s) >>> to resend velocity commands but this had no effect. Are you seeing >>> statements from the p2os node of the form "new speed [0.25, 0.0] >>> (timestamp)" and "setting vel: [0.25,0.0]". If not what kind of debug >>> output are you seeing on the node? >>> -Tucker >>> >>> On Thu, Apr 22, 2010 at 12:31 PM, Dan Lazewatsky >>> wrote: >>> >>>> I just tried out a few things from your pioneer_control package and I get >>>> the same behavior I was seeing before. >>>> >>>> -Dan >>>> >>>> On 4/21/10 7:13 PM, Dan Lazewatsky wrote: >>>> >>>> Hi Tucker, >>>> I think that should be enough to get me going. >>>> >>>> Thanks! >>>> -Dan >>>> >>>> On 4/21/10 6:57 PM, Tucker Hermans wrote: >>>> >>>> Hi Dan, >>>> I send the MotorState command of 4 and have no problems. >>>> I have a teleop keyboard port which I use for communicating with the p3dx >>>> that you can find >>>> here: github.com/trhermans/AffLearning/tree/master/pioneer_control/ >>>> Note: the launch file is setup for a p3dx with a PTZ connected to an >>>> onboard computer and uses the probe camera driver to get the video stream. >>>> I have only been testing the changes to the p2os package on a p3dx with an >>>> onboard computer, I don't think this should have any issues, but it could. >>>> Let me know if the keyboard operation gives the same problems you have now >>>> and I'll try and help debug it. >>>> -Tucker >>>> >>>> On Wed, Apr 21, 2010 at 7:49 PM, Dan Lazewatsky >>>> wrote: >>>> >>>>> Hi all - >>>>> I know this has been discussed here a bit, but not in much detail. >>>>> We have a Pioneer3dx that we'd like to get up and running again. I >>>>> downloaded and compiled the p2os package which seems to be able to >>>>> successfully connect and communicate with the robot using a serial to >>>>> USB adapter. However, I'm having trouble getting the motors to do >>>>> anything sensible. The robot's motor self-test looks like it works fine, >>>>> but sending cmd_vel, all I can get is extremely slow, jerky movement >>>>> forward or backwards (no turning). I enabled the motors with: >>>>> >>>>> rostopic pub cmd_motor_state -1 p2os/MotorState 1 (I also tried 4 >>>>> instead of 1 which was mentioned in a previous discussion) >>>>> >>>>> This feels like a communication problem between the motor commands p2os >>>>> is sending and the robot, but I don't know what's going on. Any ideas? >>>>> >>>>> Thanks, >>>>> -Dan >>>>> _______________________________________________ >>>>> ros-users mailing list >>>>> ros-users@code.ros.org >>>>> https://code.ros.org/mailman/listinfo/ros-users >>>>> >>>> >>>> _______________________________________________ >>>> ros-users mailing list >>>> ros-users@code.ros.org >>>> https://code.ros.org/mailman/listinfo/ros-users >>>> >>>> >>>> _______________________________________________ >>>> ros-users mailing list >>>> ros-users@code.ros.org >>>> https://code.ros.org/mailman/listinfo/ros-users >>>> >>>> >>>> _______________________________________________ >>>> ros-users mailing list >>>> ros-users@code.ros.org >>>> https://code.ros.org/mailman/listinfo/ros-users >>>> >>>> >>> >>> _______________________________________________ >>> ros-users mailing list >>> ros-users@code.ros.org >>> https://code.ros.org/mailman/listinfo/ros-users >>> >>> >>> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users >