Difference between revisions of "Phidgets Motor Encoder"
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* [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/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 | + | * [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] |
Revision as of 12:11, 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 running. 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] ---