Difference between revisions of "Phidgets Motor Encoder"
From wikidb
(→Execute) |
(→Execute) |
||
Line 84: | Line 84: | ||
--- | --- | ||
header: | header: | ||
− | seq: | + | seq: 35304 |
stamp: | stamp: | ||
− | secs: | + | secs: 1458454629 |
− | nsecs: | + | nsecs: 943339159 |
frame_id: odom | frame_id: odom | ||
child_frame_id: base_link | child_frame_id: base_link | ||
Line 93: | Line 93: | ||
pose: | pose: | ||
position: | position: | ||
− | x: -0. | + | x: -0.300059982299 |
− | y: 0. | + | y: 0.565528418531 |
z: 0.0 | z: 0.0 | ||
orientation: | orientation: | ||
− | x: 0.0 | + | x: -0.0 |
− | y: | + | y: 0.0 |
− | z: | + | z: 0.151113732152 |
− | w: -0. | + | 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] | 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: | ||
twist: | twist: | ||
linear: | linear: | ||
− | x: 0. | + | x: 0.0177976840035 |
− | y: 0. | + | y: -0.00553014091365 |
z: 0.0 | z: 0.0 | ||
angular: | angular: | ||
x: 0.0 | x: 0.0 | ||
y: 0.0 | y: 0.0 | ||
− | z: 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] | 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] | ||
+ | --- |
Revision as of 23:19, 19 March 2016
References
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
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] ---