Difference between revisions of "Motor Controller Rewrite"
From wikidb
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phidget21 | phidget21 | ||
) | ) | ||
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+ | = Launch Script = | ||
+ | |||
+ | Launch script in floor_hugger/launch/motor_control_nav.launch | ||
+ | |||
+ | <launch> | ||
+ | <node pkg="phidgets_cat" type="motor_control_hc_nav" name="motor_control_hc_nav" respawn="true" output="screen"> | ||
+ | <!-- for now disable odometry feedback for PID by providing a bogus topic --> | ||
+ | <param name="odometry" value="/odom" /> | ||
+ | <param name="wheelbase" value="305" /> | ||
+ | <param name="pid_proportional" value="15" /> | ||
+ | <param name="pid_integral" value="60" /> | ||
+ | <param name="pid_derivative" value="0" /> | ||
+ | </node> | ||
+ | </launch> | ||
= Test Execution = | = Test Execution = |
Revision as of 10:50, 20 September 2017
Build
Additions to ~/catkin_ws_indigo/src/phidgets_cat/CMakeList.txt
# motor_control_hc_nav add_executable(motor_control_hc_nav src/motor_control_hc_nav.cpp) target_link_libraries(motor_control_hc_nav ${catkin_LIBRARIES} phidget21 )
Launch Script
Launch script in floor_hugger/launch/motor_control_nav.launch
<launch> <node pkg="phidgets_cat" type="motor_control_hc_nav" name="motor_control_hc_nav" respawn="true" output="screen"> <param name="odometry" value="/odom" /> <param name="wheelbase" value="305" /> <param name="pid_proportional" value="15" /> <param name="pid_integral" value="60" /> <param name="pid_derivative" value="0" /> </node> </launch>
Test Execution
Terminal 2
The motor_control_nav launch script executes the code associated with the motor_control_hc_nav.cpp code in the phidgets_cat package.
roslaunch floor_hugger motor_control_nav.launch
Terminal 3
roslaunch floor_hugger odometry.launch
Terminal 4
Take the place of the navigation stack by publishing a cmd_vel message of type Twist. It has linear.x value of 0.20 m/sec and an angular.z value of 0.1 radians/sec.
roscd floor_hugger/test/ python motors_go_full.py 0.20 0.1
motors_go_full.py <linear.x> <angular.z>
Terminal 5
Monitor resulting motor status with one of the following
rostopic echo odom rqt_plot /cmd_vel/linear/x /odom/twist/twist/linear/x /odom/twist/twist/linear/y