Difference between revisions of "Phidgets Motor Encoder"
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== References == | == References == | ||
− | * [http://www.phidgets.com/docs/1047_User_Guide Encoder Phidgets Guide] | + | * [http://www.phidgets.com/docs/1047_User_Guide Four Port Encoder Phidgets Guide] This one didn't work because ROS wants a serial number of each port. This one has a single serial number for all ports. |
+ | * [http://www.phidgets.com/docs/1057_User_Guide Single Port Encoder Phidget Guide] There are two of these. | ||
* [http://wiki.ros.org/phidgets ROS Phidgets Documentation] | * [http://wiki.ros.org/phidgets ROS Phidgets Documentation] | ||
* [http://www.phidgets.com/docs/OS_-_OS_X#Quick_Downloads Testing on Mac] | * [http://www.phidgets.com/docs/OS_-_OS_X#Quick_Downloads Testing on Mac] | ||
Line 10: | Line 11: | ||
|- # -|- Type -|- Serial No. -|- Version -| | |- # -|- Type -|- Serial No. -|- Version -| | ||
|-------|----------------------------------|--------------|------------| | |-------|----------------------------------|--------------|------------| | ||
− | |- 0 -|- | + | |- 0 -|- PhidgetEncoder -|- 351673 -|- 302 -| |
|-------|----------------------------------|--------------|------------| | |-------|----------------------------------|--------------|------------| | ||
− | |- 1 -|- | + | |- 1 -|- PhidgetInterfaceKit -|- 69535 -|- 825 -| |
|-------|----------------------------------|--------------|------------| | |-------|----------------------------------|--------------|------------| | ||
− | |- 2 -|- | + | |- 2 -|- PhidgetMotorControl -|- 147489 -|- 102 -| |
|-------|----------------------------------|--------------|------------| | |-------|----------------------------------|--------------|------------| | ||
+ | |- 3 -|- PhidgetEncoder -|- 351547 -|- 302 -| | ||
+ | |-------|----------------------------------|--------------|------------| | ||
+ | |||
+ | Modified the serial numbers for the left and right encoders in the <tt>odometry.launch</tt> file in the <tt>..../floor_hugger/launch</tt> directory. | ||
+ | diff odometry.launch.org odometry.launch | ||
+ | 15c15 | ||
+ | < <param name="serial" value="52980" /> | ||
+ | --- | ||
+ | > <param name="serial" value="351547" /> | ||
+ | 19c19 | ||
+ | < <param name="serial" value="54104" /> | ||
+ | --- | ||
+ | > <param name="serial" value="351673" /> | ||
+ | 24,25c24,25 | ||
+ | < <param name="serialleft" value="52980" /> | ||
+ | < <param name="serialright" value="54104" /> | ||
+ | --- | ||
+ | > <param name="serialleft" value="351547" /> | ||
+ | > <param name="serialright" value="351673" /> | ||
+ | |||
+ | == Execute == | ||
+ | |||
+ | Terminal 1 | ||
+ | roscore | ||
+ | |||
+ | Terminal 2 | ||
+ | roslaunch floor_hugger odometry.launch | ||
+ | ... logging to /home/eepp/.ros/log/184aed3a-ee5e-11e5-86af-7c5cf84b92a4/roslaunch-hood-4875.log | ||
+ | Checking log directory for disk usage. This may take awhile. | ||
+ | Press Ctrl-C to interrupt | ||
+ | Done checking log file disk usage. Usage is <1GB. | ||
+ | |||
+ | started roslaunch server http://hood:48802/ | ||
+ | |||
+ | SUMMARY | ||
+ | ======== | ||
+ | |||
+ | PARAMETERS | ||
+ | * /encoder_left/serial: 351547 | ||
+ | * /encoder_right/serial: 351673 | ||
+ | * /odometry/countspermmleft: 100 | ||
+ | * /odometry/countspermmright: 100 | ||
+ | * /odometry/serialleft: 351547 | ||
+ | * /odometry/serialright: 351673 | ||
+ | * /odometry/verbose: True | ||
+ | * /odometry/wheelbase: 400 | ||
+ | * /rosdistro: indigo | ||
+ | * /rosversion: 1.11.16 | ||
+ | |||
+ | NODES | ||
+ | / | ||
+ | encoder_left (phidgets/high_speed_encoder) | ||
+ | encoder_right (phidgets/high_speed_encoder) | ||
+ | odometry (phidgets/odometry) | ||
+ | |||
+ | ROS_MASTER_URI=http://hood:11311 | ||
+ | |||
+ | core service [/rosout] found | ||
+ | process[encoder_left-1]: started with pid [4893] | ||
+ | process[encoder_right-2]: started with pid [4894] | ||
+ | process[odometry-3]: started with pid [4910] | ||
+ | [ INFO] [1458453025.200790426]: Left encoder: phidgets/encoder/351547 | ||
+ | [ INFO] [1458453025.205863972]: Right encoder: phidgets/encoder/351673 | ||
+ | |||
+ | Terminal 3 | ||
+ | |||
+ | This example shows the topic echo while one motor is powered without it be connected to a Phidgets motor driver. The "pose" section displays the current position. The "twist" section displays the change in position impacted by the twist of the robot. | ||
+ | rostopic echo odom | ||
+ | --- | ||
+ | header: | ||
+ | seq: 35304 | ||
+ | stamp: | ||
+ | secs: 1458454629 | ||
+ | nsecs: 943339159 | ||
+ | frame_id: odom | ||
+ | child_frame_id: base_link | ||
+ | pose: | ||
+ | pose: | ||
+ | position: | ||
+ | x: -0.300059982299 | ||
+ | y: 0.565528418531 | ||
+ | z: 0.0 | ||
+ | orientation: | ||
+ | x: -0.0 | ||
+ | y: 0.0 | ||
+ | z: 0.151113732152 | ||
+ | w: -0.988516383251 | ||
+ | covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] | ||
+ | twist: | ||
+ | twist: | ||
+ | linear: | ||
+ | x: 0.0177976840035 | ||
+ | y: -0.00553014091365 | ||
+ | z: 0.0 | ||
+ | angular: | ||
+ | x: 0.0 | ||
+ | y: 0.0 | ||
+ | z: -0.093185371335 | ||
+ | covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] | ||
+ | --- |
Latest revision as of 12:22, 4 April 2016
References
- Four Port Encoder Phidgets Guide This one didn't work because ROS wants a serial number of each port. This one has a single serial number for all ports.
- Single Port Encoder Phidget Guide There are two of these.
- ROS Phidgets Documentation
- Testing on Mac
Check
rosrun phidgets manager |- # -|- Type -|- Serial No. -|- Version -| |-------|----------------------------------|--------------|------------| |- 0 -|- PhidgetEncoder -|- 351673 -|- 302 -| |-------|----------------------------------|--------------|------------| |- 1 -|- PhidgetInterfaceKit -|- 69535 -|- 825 -| |-------|----------------------------------|--------------|------------| |- 2 -|- PhidgetMotorControl -|- 147489 -|- 102 -| |-------|----------------------------------|--------------|------------| |- 3 -|- PhidgetEncoder -|- 351547 -|- 302 -| |-------|----------------------------------|--------------|------------|
Modified the serial numbers for the left and right encoders in the odometry.launch file in the ..../floor_hugger/launch directory.
diff odometry.launch.org odometry.launch 15c15 < <param name="serial" value="52980" /> --- > <param name="serial" value="351547" /> 19c19 < <param name="serial" value="54104" /> --- > <param name="serial" value="351673" /> 24,25c24,25 < <param name="serialleft" value="52980" /> < <param name="serialright" value="54104" /> --- > <param name="serialleft" value="351547" /> > <param name="serialright" value="351673" />
Execute
Terminal 1
roscore
Terminal 2
roslaunch floor_hugger odometry.launch ... logging to /home/eepp/.ros/log/184aed3a-ee5e-11e5-86af-7c5cf84b92a4/roslaunch-hood-4875.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://hood:48802/ SUMMARY ======== PARAMETERS * /encoder_left/serial: 351547 * /encoder_right/serial: 351673 * /odometry/countspermmleft: 100 * /odometry/countspermmright: 100 * /odometry/serialleft: 351547 * /odometry/serialright: 351673 * /odometry/verbose: True * /odometry/wheelbase: 400 * /rosdistro: indigo * /rosversion: 1.11.16 NODES / encoder_left (phidgets/high_speed_encoder) encoder_right (phidgets/high_speed_encoder) odometry (phidgets/odometry) ROS_MASTER_URI=http://hood:11311 core service [/rosout] found process[encoder_left-1]: started with pid [4893] process[encoder_right-2]: started with pid [4894] process[odometry-3]: started with pid [4910] [ INFO] [1458453025.200790426]: Left encoder: phidgets/encoder/351547 [ INFO] [1458453025.205863972]: Right encoder: phidgets/encoder/351673
Terminal 3
This example shows the topic echo while one motor is powered without it be connected to a Phidgets motor driver. The "pose" section displays the current position. The "twist" section displays the change in position impacted by the twist of the robot.
rostopic echo odom --- header: seq: 35304 stamp: secs: 1458454629 nsecs: 943339159 frame_id: odom child_frame_id: base_link pose: pose: position: x: -0.300059982299 y: 0.565528418531 z: 0.0 orientation: x: -0.0 y: 0.0 z: 0.151113732152 w: -0.988516383251 covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] twist: twist: linear: x: 0.0177976840035 y: -0.00553014091365 z: 0.0 angular: x: 0.0 y: 0.0 z: -0.093185371335 covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] ---