[ros-users] Pioneer2DX does not move with p2os

von Wichert, Georg Georg.Wichert at siemens.com
Wed Sep 29 20:23:27 UTC 2010


Dave,

First thanks for your quick reply! We actually - after some testing with player and some hacking inside the ROS node - are certain now, that our robot simply does not corretly work with the coordinated linar/angular commands. The question is why...? 

I actually inherited the robots from a previous project. They are some years old. The driver reports them as a "p2de" type. From your experience with the Pioneers, do you recall whether or not early versions maybe did not support the coordinated motion commands? If not, could some configuration parameters stored inside the robots controller be incorrect and cause this behaviour?

Player actually supports both, the coordinated and the direct drive mode. If we cant get the robots to cooperate, do you think it would make sense for us (and be not too complicated) to port the direct drive mode from player into the ROS node?

Thanks,

Georg

-----Original Message-----
From: ros-users-bounces at code.ros.org [mailto:ros-users-bounces at code.ros.org] On Behalf Of David Feil-Seifer
Sent: Wednesday, September 29, 2010 7:31 PM
To: User discussions
Subject: Re: [ros-users] Pioneer2DX does not move with p2os

Georg-

I wrote the p2os driver. I don't recall implementing the direct wheel drive command for the p2os ROS node. Implementing a feature like that is not on my list for the immediate future, either. The main reason is that with a Twist message on the cmd_vel topic, direct wheel drive (where we are trying to control the wheels individually), there is not a standardized ROS message type for that, so one would need to be created. If there are many requests for such a feature, I will add it to the future features list, but it is not on the immediate agenda.

However, I will gladly accept a patch that does implement such, if one is submitted to me.

Sorry for the confusion.
-Dave

On Wed, Sep 29, 2010 at 7:55 AM, von Wichert, Georg <Georg.Wichert at siemens.com> wrote:
> Hi once more,
>
> We actually just found out, that we can control the robot with player 
> in the (default) direct_wheel_drive mode. If we set direct_wheel_drive to 0 in the confguration file, the behaviour ist the same as with the ros node. Does anyone know, why the non-direct_wheel_drive might not work? Does the p2os on ROS support the direct_wheel_drive mode?
>
> Thanks,
>
> Georg Wichert
>
>
> -----Original Message-----
> From: ros-users-bounces at code.ros.org 
> [mailto:ros-users-bounces at code.ros.org] On Behalf Of von Wichert, 
> Georg
> Sent: Wednesday, September 29, 2010 3:38 PM
> To: User discussions
> Subject: Re: [ros-users] Pioneer2DX does not move with p2os
>
> Hi again,
>
> Yes, we are shure (gdb and ROS_INFO()), that the command arrives at the p2os node ( check_and_set_vel() ) and that the commanded velocity is smaller than the configured maximum.
>
> Best,
>
> Georg Wichert
>
> -----Original Message-----
> From: ros-users-bounces at code.ros.org 
> [mailto:ros-users-bounces at code.ros.org] On Behalf Of Enea Scioni
> Sent: Wednesday, September 29, 2010 1:05 PM
> To: ros-users at code.ros.org
> Subject: Re: [ros-users] Pioneer2DX does not move with p2os
>
>
> Hi Georg,
> just a simple question: did you check if you're sending the twist command to the right topic?
> (use rxgraph or rostopic to check)
>
> Enea Scioni
> --
> View this message in context: 
> http://ros-users.122217.n3.nabble.com/Pioneer2DX-does-not-move-with-p2
> os-tp1601584p1601652.html Sent from the ROS-Users mailing list archive 
> at Nabble.com.
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