Gendrv Issue #53

pitosalas · 2025-01-27T01:41:20Z

I am having trouble getting the Waveshare gendrv board fully working. This issue report looks long but it's just because I put all the details in. I think I might be misunderstanding some detail in your instructions because of how you interleave instructions for gendrv with all the others.

I have followed your instructions carefully and it is mostly working. I hope you can take a few minutes and look through this and help me spot my mistake. My meaning is to follow the default path through your instructions.

I've spent a lot of time digging into the underlying packages (like ekf_filter_node and imu_filter_madwick) and I don't see where I am going wrong. THANK YOU!

My gendrv_config.h looks like this:


// Copyright (c) 2021 Juan Miguel Jimeno
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef GENDRV_CONFIG_H
#define GENDRV_CONFIG_H

#define LED_PIN LED_BUILTIN //used for debugging status

//uncomment the base you're building
#define LINO_BASE DIFFERENTIAL_DRIVE       // 2WD and Tracked robot w/ 2 motors
// #define LINO_BASE SKID_STEER            // 4WD robot
// #define LINO_BASE MECANUM               // Mecanum drive robot

//uncomment the motor driver you're using
// #define USE_GENERIC_2_IN_MOTOR_DRIVER      // Motor drivers with 2 Direction Pins(INA, INB) and 1 PWM(ENABLE) pin ie. L298, L293, VNH5019
// #define USE_GENERIC_1_IN_MOTOR_DRIVER   // Motor drivers with 1 Direction Pin(INA) and 1 PWM(ENABLE) pin.
#define USE_BTS7960_MOTOR_DRIVER        // BTS7970 Motor Driver
// #define USE_ESC_MOTOR_DRIVER            // Motor ESC for brushless motors

//uncomment the IMU you're using
// #define USE_GY85_IMU
// #define USE_MPU6050_IMU
// #define USE_MPU9150_IMU
// #define USE_MPU9250_IMU
#define USE_QMI8658_IMU
// #define USE_HMC5883L_MAG
// #define USE_AK8963_MAG
// #define USE_AK8975_MAG
#define USE_AK09918_MAG
// #define USE_QMC5883L_MAG

#define MAG_BIAS { 1.32662e-05, -5.43438e-05, 1.06151e-05 } //magnetometer bias
// #define IMU_TWEAK {}
// #define MAG_TWEAK {}

#define K_P 0.6                             // P constant
#define K_I 0.8                             // I constant
#define K_D 0.5                             // D constant

// #define K_P 3.0                            // P constant
// #define K_I 0.0                             // I constant
// #define K_D 0.0                             // D constant


#define ACCEL_COV { 0.01, 0.01, 0.01 }
#define GYRO_COV { 0.001, 0.001, 0.001 }
#define ORI_COV { 0.01, 0.01, 0.01 }
#define MAG_COV { 1e-12, 1e-12, 1e-12 }
#define POSE_COV { 0.001, 0.001, 0.001, 0.001, 0.001, 0.001 }
#define TWIST_COV { 0.001, 0.001, 0.001, 0.003, 0.003, 0.003 }

/*
ROBOT ORIENTATION
         FRONT
    MOTOR1  MOTOR2  (2WD/ACKERMANN)
    MOTOR3  MOTOR4  (4WD/MECANUM)
         BACK
*/

//define your robot' specs here
#define MOTOR_MAX_RPM 300                   // motor's max RPM
#define MAX_RPM_RATIO 0.85                  // max RPM allowed for each MAX_RPM_ALLOWED = MOTOR_MAX_RPM * MAX_RPM_RATIO
#define MOTOR_OPERATING_VOLTAGE 12          // motor's operating voltage (used to calculate max RPM)
#define MOTOR_POWER_MAX_VOLTAGE 12          // max voltage of the motor's power source (used to calculate max RPM)
#define MOTOR_POWER_MEASURED_VOLTAGE 12     // current voltage reading of the power connected to the motor (used for calibration)
#define COUNTS_PER_REV1 985                 // wheel1 encoder's no of ticks per rev
#define COUNTS_PER_REV2 985                 // wheel2 encoder's no of ticks per rev
#define COUNTS_PER_REV3 450                 // wheel3 encoder's no of ticks per rev
#define COUNTS_PER_REV4 450                 // wheel4 encoder's no of ticks per rev
#define WHEEL_DIAMETER 0.06                // wheel's diameter in meters
#define LR_WHEELS_DISTANCE 0.2375           // distance between left and right wheels
#define PWM_BITS 10                         // PWM Resolution of the microcontroller
#define PWM_FREQUENCY 20000                 // PWM Frequency
#define SERVO_BITS 12                       // Servo PWM resolution
#define SERVO_FREQ 50                       // Servo PWM frequency

// INVERT ENCODER COUNTS
#define MOTOR1_ENCODER_INV true
#define MOTOR2_ENCODER_INV true
#define MOTOR3_ENCODER_INV false
#define MOTOR4_ENCODER_INV false

// INVERT MOTOR DIRECTIONS
#define MOTOR1_INV false
#define MOTOR2_INV false
#define MOTOR3_INV false
#define MOTOR4_INV false

// ENCODER PINS
#define MOTOR1_ENCODER_A 34
#define MOTOR1_ENCODER_B 35

#define MOTOR2_ENCODER_A 16
#define MOTOR2_ENCODER_B 27

#define MOTOR3_ENCODER_A -1
#define MOTOR3_ENCODER_B -1

#define MOTOR4_ENCODER_A -1
#define MOTOR4_ENCODER_B -1

// MOTOR PINS
#ifdef USE_GENERIC_2_IN_MOTOR_DRIVER
  #define MOTOR1_PWM 25 //Pin no 21 is not a PWM pin on Teensy 4.x, you can swap it with pin no 1 instead.
  #define MOTOR1_IN_A 21
  #define MOTOR1_IN_B 17

  #define MOTOR2_PWM 26
  #define MOTOR2_IN_A 22
  #define MOTOR2_IN_B 23

  #define MOTOR3_PWM -1
  #define MOTOR3_IN_A -1
  #define MOTOR3_IN_B -1

  #define MOTOR4_PWM -1
  #define MOTOR4_IN_A -1
  #define MOTOR4_IN_B -1

  #define PWM_MAX pow(2, PWM_BITS) - 1
  #define PWM_MIN -PWM_MAX
#endif

#ifdef USE_GENERIC_1_IN_MOTOR_DRIVER
  #define MOTOR1_PWM 21 //Pin no 21 is not a PWM pin on Teensy 4.x, you can use pin no 1 instead.
  #define MOTOR1_IN_A 20
  #define MOTOR1_IN_B -1 //DON'T TOUCH THIS! This is just a placeholder

  #define MOTOR2_PWM 5
  #define MOTOR2_IN_A 6
  #define MOTOR2_IN_B -1 //DON'T TOUCH THIS! This is just a placeholder

  #define MOTOR3_PWM 22
  #define MOTOR3_IN_A 23
  #define MOTOR3_IN_B -1 //DON'T TOUCH THIS! This is just a placeholder

  #define MOTOR4_PWM 4
  #define MOTOR4_IN_A 3
  #define MOTOR4_IN_B -1 //DON'T TOUCH THIS! This is just a placeholder

  #define PWM_MAX pow(2, PWM_BITS) - 1
  #define PWM_MIN -PWM_MAX
#endif

#ifdef USE_BTS7960_MOTOR_DRIVER
  #define MOTOR1_PWM 25 //DON'T TOUCH THIS! This is just a placeholder
  #define MOTOR1_IN_A 17
  #define MOTOR1_IN_B 21

  #define MOTOR2_PWM 26 //DON'T TOUCH THIS! This is just a placeholder
  #define MOTOR2_IN_A 23
  #define MOTOR2_IN_B 22

  #define MOTOR3_PWM -1 //DON'T TOUCH THIS! This is just a placeholder
  #define MOTOR3_IN_A -1
  #define MOTOR3_IN_B -1

  #define MOTOR4_PWM -1 //DON'T TOUCH THIS! This is just a placeholder
  #define MOTOR4_IN_A -1
  #define MOTOR4_IN_B -1

  #define PWM_MAX pow(2, PWM_BITS) - 1
  #define PWM_MIN -PWM_MAX
#endif

#ifdef USE_ESC_MOTOR_DRIVER
  #define MOTOR1_PWM 21 //Pin no 21 is not a PWM pin on Teensy 4.x. You can use pin no 1 instead.
  #define MOTOR1_IN_A -1 //DON'T TOUCH THIS! This is just a placeholder
  #define MOTOR1_IN_B -1 //DON'T TOUCH THIS! This is just a placeholder

  #define MOTOR2_PWM 5
  #define MOTOR2_IN_A -1 //DON'T TOUCH THIS! This is just a placeholder
  #define MOTOR2_IN_B -1 //DON'T TOUCH THIS! This is just a placeholder

  #define MOTOR3_PWM 22
  #define MOTOR3_IN_A -1 //DON'T TOUCH THIS! This is just a placeholder
  #define MOTOR3_IN_B -1 //DON'T TOUCH THIS! This is just a placeholder

  #define MOTOR4_PWM 4
  #define MOTOR4_IN_A -1 //DON'T TOUCH THIS! This is just a placeholder
  #define MOTOR4_IN_B -1 //DON'T TOUCH THIS! This is just a placeholder

  #define PWM_MAX 400
  #define PWM_MIN -PWM_MAX
#endif

#define AGENT_IP { 192, 168, 1, 100 }  // eg IP of the desktop computer
#define AGENT_PORT 8888
// Enable WiFi with null terminated list of multiple APs SSID and password
// #define WIFI_AP_LIST {{"WIFI_SSID", "WIFI_PASSWORD"}, {NULL}}
#define WIFI_MONITOR 2 // min. period to send wifi signal strength to syslog
// #define USE_ARDUINO_OTA
// #define USE_SYSLOG
#define SYSLOG_SERVER { 192, 168, 1, 100 }  // eg IP of the desktop computer
#define SYSLOG_PORT 514
#define DEVICE_HOSTNAME "gendrv"
#define APP_NAME "hardware"
// #define USE_LIDAR_UDP  // send lidar data to udp server
#define LIDAR_RXD 4
#define LIDAR_SERIAL 1 // uart number
#define LIDAR_BAUDRATE 230400
#define LIDAR_SERVER { 192, 168, 1, 100 }  // eg IP of the desktop computer
#define LIDAR_PORT 8889
#define BAUDRATE 921600
#define SDA_PIN 32 // specify I2C pins
#define SCL_PIN 33
#define NODE_NAME "gendrv"
// #define TOPIC_PREFIX "gendrv/"
// #define CONTROL_TIMER 20
// #define BATTERY_TIMER 2000

// battery voltage ADC pin
// #define BATTERY_PIN 33
// 3.3V ref, 12 bits ADC, 33k + 10k voltage divider
#define BATTERY_ADJUST(v) ((v) * (3.3 / 4096 * (33 + 10) / 10))
#define USE_INA219
#define BATTERY_DIP 0.98  // battery voltage drop alert
// #define BATTERY_CAP 2.0  // battery capacity Ah
// #define BATTERY_MIN 9.0  // battery minimal voltage
// #define BATTERY_MAX 12.6 // battery maximum voltage
// #define TRIG_PIN 31 // ultrasonic sensor HC-SR04
// #define ECHO_PIN 32
#define USE_SHORT_BRAKE // for shorter stopping distance
// #define WDT_TIMEOUT 60 // Sec
#define BOARD_INIT { \
    pinMode(MOTOR1_PWM, OUTPUT); \
    digitalWrite(MOTOR1_PWM, HIGH); \
    pinMode(MOTOR2_PWM, OUTPUT); \
    digitalWrite(MOTOR2_PWM, HIGH); \
    Wire.begin(SDA_PIN, SCL_PIN); \
    Wire.setClock(400000); \
}
// #define BOARD_INIT_LATE {}
// #define BOARD_LOOP {}

#ifdef USE_SYSLOG
#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){ \
    syslog(LOG_ERR, "%s RCCHECK failed %d", __FUNCTION__, temp_rc); \
    return false; }}
#else
#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){ \
    flashLED(3); \
    return false; }} // do not block
#endif

#endif

IMU set up

I have set up the imu. It is publishing to imu/data_raw which is expected to because of the presence of the mangetometer. The data from /imu/data_raw and /imu/magnet seems correct. A little lower hz but maybe that's because it's an ESP32.

/imu topics hz reports

[dome:~] ros2 topic hz /imu/data_raw
average rate: 38.408
	min: 0.025s max: 0.029s std dev: 0.00107s window: 40
average rate: 38.323
	min: 0.025s max: 0.030s std dev: 0.00113s window: 79
^C[dome:~] ros2 topic hz /imu/mag
WARNING: topic [/imu/mag] does not appear to be published yet
average rate: 38.520
	min: 0.025s max: 0.029s std dev: 0.00111s window: 40
average rate: 38.425
	min: 0.025s max: 0.029s std dev: 0.00116s window: 79
average rate: 38.460
	min: 0.025s max: 0.029s std dev: 0.00118s window: 118

My ekf.yaml looks like this:

ekf_filter_node:
    ros__parameters:
        frequency: 50.0
        two_d_mode: true
        publish_tf: true
 
        map_frame: map             
        odom_frame: odom            
        base_link_frame: base_footprint 
        world_frame: odom 


        #x     , y     , z,
        #roll  , pitch , yaw,
        #vx    , vy    , vz,
        #vroll , vpitch, vyaw,
        #ax    , ay    , az
        odom0: odom/unfiltered
        odom0_config: [false, false, false,
                       false, false, false,
                       true, true, false,
                       false, false, true,
                       false, false, false]

        imu0: imu/data
        imu0_config: [false, false, false,
                      false, false, true,
                      false, false, false,
                      false, false, true,
                      true, true, false]

Bringup

And I launch with the following bringup:


# Copyright (c) 2021 Juan Miguel Jimeno
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http:#www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, PythonExpression
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from launch.conditions import IfCondition, UnlessCondition


def generate_launch_description():
    sensors_launch_path = PathJoinSubstitution(
        [FindPackageShare('linorobot2_bringup'), 'launch', 'sensors.launch.py']
    )

    joy_launch_path = PathJoinSubstitution(
        [FindPackageShare('linorobot2_bringup'), 'launch', 'joy_teleop.launch.py']
    )

    description_launch_path = PathJoinSubstitution(
        [FindPackageShare('linorobot2_description'), 'launch', 'description.launch.py']
    )

    ekf_config_path = PathJoinSubstitution(
        [FindPackageShare("linorobot2_base"), "config", "ekf.yaml"]
    )

    default_robot_launch_path = PathJoinSubstitution(
        [FindPackageShare('linorobot2_bringup'), 'launch', 'default_robot.launch.py']
    )

    custom_robot_launch_path = PathJoinSubstitution(
        [FindPackageShare('linorobot2_bringup'), 'launch', 'custom_robot.launch.py']
    )

    extra_launch_path = PathJoinSubstitution(
        [FindPackageShare('linorobot2_bringup'), 'launch', 'extra.launch.py']
    )

    return LaunchDescription([
        DeclareLaunchArgument(
            name='custom_robot', 
            default_value='false',
            description='Use custom robot'
        ),

        DeclareLaunchArgument(
            name='extra', 
            default_value='false',
            description='Launch extra launch file'
        ),

        DeclareLaunchArgument(
            name='base_serial_port', 
            default_value='/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.3:1.0-port0',
            description='Linorobot Base Serial Port'
        ),

        DeclareLaunchArgument(
            name='micro_ros_transport',
            default_value='serial',
            description='micro-ROS transport'
        ),

        DeclareLaunchArgument(
            name='micro_ros_port',
            default_value='8888',
            description='micro-ROS udp/tcp port number'
        ),

        DeclareLaunchArgument(
            name='odom_topic', 
            default_value='/odom',
            description='EKF out odometry topic'
        ),

        DeclareLaunchArgument(
            name='madgwick',
            default_value='true',
            description='Use madgwick to fuse imu and magnetometer'
        ),

        DeclareLaunchArgument(
            name='orientation_stddev',
            default_value='0.003162278',
            description='Madgwick orientation stddev'
        ),

        DeclareLaunchArgument(
            name='joy', 
            default_value='false',
            description='Use Joystick'
        ),

        Node(
            condition=IfCondition(LaunchConfiguration("madgwick")),
            package='imu_filter_madgwick',
            executable='imu_filter_madgwick_node',
            name='madgwick_filter_node',
            output='screen',
            parameters=[
                {'orientation_stddev' : LaunchConfiguration('orientation_stddev')}
            ]
        ),

        Node(
            package='robot_localization',
            executable='ekf_node',
            name='ekf_filter_node',
            output='screen',
            parameters=[
                ekf_config_path
            ],
            remappings=[("odometry/filtered", LaunchConfiguration("odom_topic"))]
        ),

        IncludeLaunchDescription(
            PythonLaunchDescriptionSource(default_robot_launch_path),
            condition=UnlessCondition(LaunchConfiguration("custom_robot")),
            launch_arguments={
                'base_serial_port': LaunchConfiguration("base_serial_port")
            }.items()
        ),

        IncludeLaunchDescription(
            PythonLaunchDescriptionSource(extra_launch_path),
            condition=IfCondition(LaunchConfiguration("extra")),
        ),

        IncludeLaunchDescription(
            PythonLaunchDescriptionSource(custom_robot_launch_path),
            condition=IfCondition(LaunchConfiguration("custom_robot")),
        )
    ])

Which is pretty straightforward. .And the output also looks perfect:

[dome:~] ros2 launch linorobot2_bringup bringup.launch.py
[INFO] [launch]: All log files can be found below /home/pitosalas/.ros/log/2025-01-26-20-32-37-017623-dome-2435
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [imu_filter_madgwick_node-1]: process started with pid [2437]
[INFO] [ekf_node-2]: process started with pid [2439]
[INFO] [micro_ros_agent-3]: process started with pid [2441]
[INFO] [joint_state_publisher-4]: process started with pid [2443]
[INFO] [robot_state_publisher-5]: process started with pid [2445]
[micro_ros_agent-3] [1737941558.688829] info     | TermiosAgentLinux.cpp | init                     | running...             | fd: 3
[micro_ros_agent-3] [1737941558.690808] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4
[imu_filter_madgwick_node-1] [INFO] [1737941558.911784478] [madgwick_filter_node]: Starting ImuFilter
[imu_filter_madgwick_node-1] [INFO] [1737941558.913986172] [madgwick_filter_node]: Using dt computed from message headers
[imu_filter_madgwick_node-1] [INFO] [1737941558.914914835] [madgwick_filter_node]: The gravity vector is kept in the IMU message.
[imu_filter_madgwick_node-1] [INFO] [1737941558.915859016] [madgwick_filter_node]: Imu filter gain set to 0.100000
[imu_filter_madgwick_node-1] [INFO] [1737941558.915985626] [madgwick_filter_node]: Gyro drift bias set to 0.000000
[imu_filter_madgwick_node-1] [INFO] [1737941558.916020978] [madgwick_filter_node]: Magnetometer bias values: 0.000000 0.000000 0.000000
[robot_state_publisher-5] [INFO] [1737941559.017753277] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-5] [INFO] [1737941559.018699606] [robot_state_publisher]: got segment base_link
[robot_state_publisher-5] [INFO] [1737941559.018820087] [robot_state_publisher]: got segment camera_depth_link
[robot_state_publisher-5] [INFO] [1737941559.018861735] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-5] [INFO] [1737941559.018891883] [robot_state_publisher]: got segment front_caster_wheel_link
[robot_state_publisher-5] [INFO] [1737941559.018921291] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-5] [INFO] [1737941559.018954568] [robot_state_publisher]: got segment laser
[robot_state_publisher-5] [INFO] [1737941559.018980901] [robot_state_publisher]: got segment left_wheel_link
[robot_state_publisher-5] [INFO] [1737941559.019007383] [robot_state_publisher]: got segment rear_caster_wheel_link
[robot_state_publisher-5] [INFO] [1737941559.019033586] [robot_state_publisher]: got segment right_wheel_link
[robot_state_publisher-5] [INFO] [1737941559.019060771] [robot_state_publisher]: got segment sonar_link
[micro_ros_agent-3] [1737941559.172003] info     | Root.cpp           | create_client            | create                 | client_key: 0x2CF3503A, session_id: 0x81
[micro_ros_agent-3] [1737941559.174546] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x2CF3503A, address: 0
[micro_ros_agent-3] [1737941559.236455] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0x2CF3503A, participant_id: 0x000(1)
[micro_ros_agent-3] [1737941559.241098] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x2CF3503A, topic_id: 0x000(2), participant_id: 0x000(1)
[micro_ros_agent-3] [1737941559.244672] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x2CF3503A, publisher_id: 0x000(3), participant_id: 0x000(1)
[micro_ros_agent-3] [1737941559.249848] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x2CF3503A, datawriter_id: 0x000(5), publisher_id: 0x000(3)
[micro_ros_agent-3] [1737941559.254031] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x2CF3503A, topic_id: 0x001(2), participant_id: 0x000(1)
[micro_ros_agent-3] [1737941559.257495] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x2CF3503A, publisher_id: 0x001(3), participant_id: 0x000(1)
[micro_ros_agent-3] [1737941559.263481] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x2CF3503A, datawriter_id: 0x001(5), publisher_id: 0x001(3)
[micro_ros_agent-3] [1737941559.267806] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x2CF3503A, topic_id: 0x002(2), participant_id: 0x000(1)
[micro_ros_agent-3] [1737941559.271348] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x2CF3503A, publisher_id: 0x002(3), participant_id: 0x000(1)
[micro_ros_agent-3] [1737941559.277392] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x2CF3503A, datawriter_id: 0x002(5), publisher_id: 0x002(3)
[micro_ros_agent-3] [1737941559.283414] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x2CF3503A, topic_id: 0x003(2), participant_id: 0x000(1)
[micro_ros_agent-3] [1737941559.287764] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0x2CF3503A, publisher_id: 0x003(3), participant_id: 0x000(1)
[micro_ros_agent-3] [1737941559.296514] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0x2CF3503A, datawriter_id: 0x003(5), publisher_id: 0x003(3)
[micro_ros_agent-3] [1737941559.300748] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0x2CF3503A, topic_id: 0x004(2), participant_id: 0x000(1)
[micro_ros_agent-3] [1737941559.304181] info     | ProxyClient.cpp    | create_subscriber        | subscriber created     | client_key: 0x2CF3503A, subscriber_id: 0x000(4), participant_id: 0x000(1)
[micro_ros_agent-3] [1737941559.310181] info     | ProxyClient.cpp    | create_datareader        | datareader created     | client_key: 0x2CF3503A, datareader_id: 0x000(6), subscriber_id: 0x000(4)
[imu_filter_madgwick_node-1] [INFO] [1737941559.347430177] [madgwick_filter_node]: First pair of IMU and magnetometer messages received.
[joint_state_publisher-4] [INFO] [1737941560.837289555] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...

Problems

After this I have the following weirdness... The imu_link tf is a child of the odom tf which is incorrect.

Also another clue is this error:

Question

Do you see anything in my various setup files that might be causing this?

The text was updated successfully, but these errors were encountered:

hippo5329 · 2025-01-27T06:27:22Z

The problem came from the madgwick package, which used "fixed_frame"(default odom) as parent . But it should not be odom in our cases.

hippo5329 · 2025-01-27T06:41:59Z

I think we can set "publish_tf" to false, because we do not use wadgwick package to publish tf. We use robot_state_publisher to publish tf. So the tf publisher from madgwick should be disabled.

hippo5329 · 2025-01-27T06:44:13Z

I will prepare a patch on this later.

pitosalas · 2025-01-27T11:14:43Z

I am pretty sure I tried that and it created other errors. Pito Salas Computer ScienceBrandeis Univeristy On Jan 27, 2025, at 1:44 AM, Thomas Chou ***@***.***> wrote: I will prepare a patch on this later. —Reply to this email directly, view it on GitHub, or unsubscribe.You are receiving this because you authored the thread.Message ID: ***@***.***>

pitosalas · 2025-01-28T22:49:06Z

Hi Thomas,Any news on this patch?Pito Salas Computer ScienceBrandeis Univeristy On Jan 27, 2025, at 1:44 AM, Thomas Chou ***@***.***> wrote: I will prepare a patch on this later. —Reply to this email directly, view it on GitHub, or unsubscribe.You are receiving this because you authored the thread.Message ID: ***@***.***>

hippo5329 · 2025-01-29T02:04:18Z

Please check hippo5329/linorobot2 no-tf branch. I am traveling and do not have robots to test.

pitosalas · 2025-01-29T15:36:39Z

Thank you. Unfortunately it didn't fix the problem. I am still seeing the imu tf parent as odom which it should not be. Here is a short capture to show what I am seeing… Thanks for all you do! https://share.zight.com/KouRAWDX

…

On Jan 28, 2025, at 9:04 PM, Thomas Chou ***@***.***> wrote: Please check hippo5329/linorobot2 no-tf branch. I am traveling and do not have robots to test. — Reply to this email directly, view it on GitHub <#53 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AAAK5CJR2DK5AIE75Y67A7T2NAZLRAVCNFSM6AAAAABV5BI64WVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDMMRQGQ3TIMZWHE>. You are receiving this because you authored the thread.

hippo5329 · 2025-02-09T03:26:26Z

I updated hippo5329/linorobot2. And checked via view_frame. The imu_link's parent is base_footprint now.

pitosalas closed this as completed Feb 14, 2025

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Gendrv Issue #53

Gendrv Issue #53

pitosalas commented Jan 27, 2025 •

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Gendrv Issue #53

Gendrv Issue #53

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pitosalas commented Jan 27, 2025 • edited Loading

My gendrv_config.h looks like this:

IMU set up

/imu topics hz reports

My ekf.yaml looks like this:

Bringup

Which is pretty straightforward. .And the output also looks perfect:

Problems

Question

hippo5329 commented Jan 27, 2025

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pitosalas commented Jan 27, 2025 •

edited

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