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    BW-DR03 with ROS wrong direction control

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    • jarubank
      jarubank last edited by xiaoqiang

      Hi I’m Jaruwat form Thailand

      I use BW-DR03 on Ubuntu ROS Melodic, pkg xqserial_server branches Lungu, connect with hub motor with True left wheel Ma1 H0 and right wheel Mb1 H1

      I used Mtools for test BW-DR03 when I test on Open loop speed control mode positive PWM motor direction clockwise and PWM negative counterclockwise boths direction smooth

      but when I connect BW-DR03 with ROS when I pub angular velocity robot direction is wrong such as positive angular velocity robot direction clockwise and negative angular velocity robot direction counterclockwise (no problem with linear velocity) how to solve this problem?

      Thank you

      989887.jpg

      xiaoqiang 1 Reply Last reply Reply Quote 0
      • xiaoqiang
        xiaoqiang @jarubank last edited by xiaoqiang

        @jarubank 安装方向.JPG Set this value to true. It means installation direction of bw_dr03. upwoard is true, downward is false.

        1 Reply Last reply Reply Quote 0
        • jarubank
          jarubank last edited by jarubank

          Thank you!!

          I have new problem when I publish cmd_vel 0.5m/s but /xqserial_server/Odom has 1.2m/s how to solve this?
          Screenshot from 2020-09-28 14-25-56.png

          xiaoqiang 1 Reply Last reply Reply Quote 0
          • xiaoqiang
            xiaoqiang @jarubank last edited by xiaoqiang

            @jarubank edit xqserial.launch file, change those two parameters “wheel_radius” and “max_speed” to the true value of your car.

            1 Reply Last reply Reply Quote 0
            • jarubank
              jarubank last edited by

              above picture is true value of my car. I use Zltech hub motor 13 inch

              xiaoqiang 1 Reply Last reply Reply Quote 0
              • xiaoqiang
                xiaoqiang @jarubank last edited by

                @jarubank maxspeed = 2 * 1.224/0.5 = 4.896, so maybe 5 is the true value of maxspeed.

                xiaoqiang 1 Reply Last reply Reply Quote 0
                • xiaoqiang
                  xiaoqiang @xiaoqiang last edited by

                  @xiaoqiang maxspeed = 300rpm = 5 rps

                  1 Reply Last reply Reply Quote 0
                  • jarubank
                    jarubank last edited by

                    “Error: TF_NAN_INPUT: Ignoring transform for child_frame_id “base_footprint” from authority “/motor_driver””

                    how to solve?

                    Screenshot from 2020-09-30 11-00-03.png

                    xiaoqiang 1 Reply Last reply Reply Quote 0
                    • xiaoqiang
                      xiaoqiang @jarubank last edited by xiaoqiang

                      @jarubank the nan is a wrong data. I have updated the code, added a nan value filter . Use git pull, get the new code, then catkin_make .

                      https://github.com/BluewhaleRobot/xqserial_server/tree/lungu
                      
                      jarubank 1 Reply Last reply Reply Quote 0
                      • jarubank
                        jarubank @xiaoqiang last edited by

                        @xiaoqiang BW-DR03 can break by electric break?

                        xiaoqiang 1 Reply Last reply Reply Quote 0
                        • xiaoqiang
                          xiaoqiang @jarubank last edited by xiaoqiang

                          @jarubank no, the motor is braked by short circuit in BW-DR03

                          jarubank 1 Reply Last reply Reply Quote 0
                          • jarubank
                            jarubank @xiaoqiang last edited by

                            @xiaoqiang when /cmd_vel = 0 BW-DR03 will short circuit, right?

                            xiaoqiang 1 Reply Last reply Reply Quote 0
                            • xiaoqiang
                              xiaoqiang @jarubank last edited by xiaoqiang

                              @jarubank right

                              1 Reply Last reply Reply Quote 0
                              • lotus
                                lotus last edited by

                                @jarubank dis you able to run your motors as expected. I am having issues with my 6.5 BLDC hoover motors non-brand.

                                1 Reply Last reply Reply Quote 0
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