导航

    蓝鲸ROS机器人论坛

    • 注册
    • 登录
    • 搜索
    • 版块
    • 话题
    • 热门
    ROS交流群
    ROS Group
    产品服务
    Product Service
    开源代码库
    Github
    官网
    Official website
    技术交流
    Technological exchanges
    激光雷达
    LIDAR
    ROS教程
    ROS Tourials
    深度学习
    Deep Learning
    机器视觉
    Computer Vision

    BW-DR03 with ROS wrong direction control

    产品服务
    bw-dr03
    3
    14
    5328
    正在加载更多帖子
    • 从旧到新
    • 从新到旧
    • 最多赞同
    回复
    • 在新帖中回复
    登录后回复
    此主题已被删除。只有拥有主题管理权限的用户可以查看。
    • jarubank
      jarubank 最后由 xiaoqiang 编辑

      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 条回复 最后回复 回复 引用 0
      • xiaoqiang
        xiaoqiang @jarubank 最后由 xiaoqiang 编辑

        @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 条回复 最后回复 回复 引用 0
        • jarubank
          jarubank 最后由 jarubank 编辑

          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 条回复 最后回复 回复 引用 0
          • xiaoqiang
            xiaoqiang @jarubank 最后由 xiaoqiang 编辑

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

            1 条回复 最后回复 回复 引用 0
            • jarubank
              jarubank 最后由 编辑

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

              xiaoqiang 1 条回复 最后回复 回复 引用 0
              • xiaoqiang
                xiaoqiang @jarubank 最后由 编辑

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

                xiaoqiang 1 条回复 最后回复 回复 引用 0
                • xiaoqiang
                  xiaoqiang @xiaoqiang 最后由 编辑

                  @xiaoqiang maxspeed = 300rpm = 5 rps

                  1 条回复 最后回复 回复 引用 0
                  • jarubank
                    jarubank 最后由 编辑

                    “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 条回复 最后回复 回复 引用 0
                    • xiaoqiang
                      xiaoqiang @jarubank 最后由 xiaoqiang 编辑

                      @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 条回复 最后回复 回复 引用 0
                      • jarubank
                        jarubank @xiaoqiang 最后由 编辑

                        @xiaoqiang BW-DR03 can break by electric break?

                        xiaoqiang 1 条回复 最后回复 回复 引用 0
                        • xiaoqiang
                          xiaoqiang @jarubank 最后由 xiaoqiang 编辑

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

                          jarubank 1 条回复 最后回复 回复 引用 0
                          • jarubank
                            jarubank @xiaoqiang 最后由 编辑

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

                            xiaoqiang 1 条回复 最后回复 回复 引用 0
                            • xiaoqiang
                              xiaoqiang @jarubank 最后由 xiaoqiang 编辑

                              @jarubank right

                              1 条回复 最后回复 回复 引用 0
                              • lotus
                                lotus 最后由 编辑

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

                                1 条回复 最后回复 回复 引用 0
                                • 1 / 1
                                • First post
                                  Last post
                                Copyright © 2015-2023 BlueWhale community