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 = | ||
+ | |||
+ | 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"> | ||
+ | <!-- for now disable odometry feedback for PID by providing a bogus topic --> | ||
+ | <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"> | ||
+ | <!-- for now disable odometry feedback for PID by providing a bogus topic --> | ||
+ | <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 | ||
+ | |||
+ | |||
+ | |||
* [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