Difference between revisions of "Integrate Motor Controller with Odometry"

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(Created page with "* [http://robotsforroboticists.com/pid-control/ PID Tuning] See Manual Tuning and Ziegler–Nichols")
 
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= Execute =
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Terminal 1
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  roscore
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Terminal 2
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  roslaunch floor_hugger motor_control.launch
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Parameter to disable odometry
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  <launch>
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    <node pkg="phidgets" type="motor_control_hc" name="motor_control_hc" respawn="true" output="screen">
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        <!-- for now disable odometry feedback for PID by providing a bogus topic -->
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        <param name="odometry" value="disable" />
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    </node>
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  </launch>
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Terminal 3
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  rosrun floor_hugger to_position.py
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Terminal 4
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  roslaunch floor_hugger odometry.launch
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= Enabled Controller Odometry
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Enable odometry with "odom"
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  <launch>
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    <node pkg="phidgets" type="motor_control_hc" name="motor_control_hc" respawn="true" output="screen">
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        <!-- for now disable odometry feedback for PID by providing a bogus topic -->
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        <param name="odometry" value="odom" />
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    </node>
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  </launch>
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Motor controller errors messages of this type:
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  [ WARN] [1462401818.924243003]: Linear acceleration limit 167.613028/0.300000 reached
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  [ WARN] [1462401819.190862871]: Angular velocity error 370.656911 degrees/sec = -0.149613 - -6.618796
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* [http://robotsforroboticists.com/pid-control/ PID Tuning] See Manual Tuning and Ziegler–Nichols
 
* [http://robotsforroboticists.com/pid-control/ PID Tuning] See Manual Tuning and Ziegler–Nichols

Revision as of 15:44, 4 May 2016

Execute

Terminal 1 

 roscore

Terminal 2 

 roslaunch floor_hugger motor_control.launch

Parameter to disable odometry 

 <launch>
   <node pkg="phidgets" type="motor_control_hc" name="motor_control_hc" respawn="true" output="screen">
       <param name="odometry" value="disable" />
   </node>
 </launch>

Terminal 3 

 rosrun floor_hugger to_position.py

Terminal 4 

 roslaunch floor_hugger odometry.launch

= Enabled Controller Odometry

Enable odometry with "odom" 

 <launch>
   <node pkg="phidgets" type="motor_control_hc" name="motor_control_hc" respawn="true" output="screen">
       <param name="odometry" value="odom" />
   </node>
 </launch>

Motor controller errors messages of this type: 

 [ WARN] [1462401818.924243003]: Linear acceleration limit 167.613028/0.300000 reached
 [ WARN] [1462401819.190862871]: Angular velocity error 370.656911 degrees/sec = -0.149613 - -6.618796


  • PID Tuning See Manual Tuning and Ziegler–Nichols
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