Evotrainer setup

snaens · March 28, 2023, 10:23pm

Ich bekomme es nicht hin, den evotrainer zum laufen zu bekommen

Alle benötigte Software ist installiert, alles Hardware soweit ich weiss auch, jedoch startet der fahr-node nicht

[20230328_22-49-51]-[INFO ]  BaseControllerROS: start init process!
[20230328_22-49-51]-[INFO ]  BaseControllerROS: Loading config for 2 motorshields
[20230328_22-49-51]-[INFO ]  BaseControllerROS: Enable ms1: 1
[20230328_22-49-51]-[INFO ]  BaseControllerROS: --------------------------
[20230328_22-49-51]-[INFO ]  BaseControllerROS: Loading parameters for ms1
[20230328_22-49-51]-[INFO ]  BaseControllerROS: Loading parameters for motor0
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: adc_conv = 0
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: adc_offs = 0
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: ctrl_mode = 2
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: encoder_res = 12
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: gear_ratio = 298
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: kd = 0
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: ki = 0
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: kp = 5.3
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: motor_mapping = 1
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: pwm_limit = 100
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: rpm_limit = 15
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: type = 2
[20230328_22-49-52]-[INFO ]  BaseControllerROS: Loading parameters for motor1
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: adc_conv = 0
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: adc_offs = 0
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: ctrl_mode = 2
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: encoder_res = 12
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: gear_ratio = 298
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: kd = 0
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: ki = 0
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: kp = 5.3
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: motor_mapping = 2
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: pwm_limit = 100
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: rpm_limit = 15
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: type = 2
[20230328_22-49-52]-[INFO ]  BaseControllerROS: Enable ms2: 1
[20230328_22-49-52]-[INFO ]  BaseControllerROS: --------------------------
[20230328_22-49-52]-[INFO ]  BaseControllerROS: Loading parameters for ms2
[20230328_22-49-52]-[INFO ]  BaseControllerROS: Loading parameters for motor0
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: adc_conv = 0
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: adc_offs = 0
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: ctrl_mode = 2
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: encoder_res = 12
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: gear_ratio = 298
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: kd = 0
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: ki = 0
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: kp = 5.3
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: motor_mapping = 3
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: pwm_limit = 100
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: rpm_limit = 15
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: type = 2
[20230328_22-49-52]-[INFO ]  BaseControllerROS: Loading parameters for motor1
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: adc_conv = 0
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: adc_offs = 0
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: ctrl_mode = 2
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: encoder_res = 12
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: gear_ratio = 298
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: kd = 0
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: ki = 0
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: kp = 5.3
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: motor_mapping = 4
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: pwm_limit = 100
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: rpm_limit = 15
[20230328_22-49-52]-[INFO ]  BaseControllerROS: received Param: type = 2
[20230328_22-49-52]-[WARN ]  MotorManager: set new config, resetting motor manager!
[20230328_22-49-52]-[INFO ]  MotorManager: init motorshield with id 1
[20230328_22-49-53]-[ERROR]  MotorManager: failed to init ms1
[20230328_22-49-53]-[INFO ]  MotorManager: init motor mapping!
[20230328_22-49-53]-[INFO ]  MotorManager: mapped 0 motors
[20230328_22-49-53]-[WARN ]  MecanumDrive: Motor front left not connected!
[20230328_22-49-53]-[WARN ]  MecanumDrive: Motor front right not connected!
[20230328_22-49-53]-[WARN ]  MecanumDrive: Motor back right not connected!
[20230328_22-49-53]-[WARN ]  MecanumDrive: Motor back left not connected!
[20230328_22-49-53]-[INFO ]  MecanumDrive: init state: 0
[20230328_22-49-53]-[ERROR]  BaseControllerROS: init process not successful!
[20230328_22-49-53]-[ERROR]  BaseControllerROS: Node is not initialized!
[20230328_22-49-53]-[ERROR]  BaseControllerROS: Possible Solutions:
[20230328_22-49-53]-[ERROR]  BaseControllerROS: [1] Restart node and check if init is successful
[20230328_22-49-53]-[ERROR]  BaseControllerROS: [2] Check if the Motorshields are powered
[20230328_22-49-53]-[ERROR]  BaseControllerROS: [3] Check if the CAN Interface is initialized
[20230328_22-49-53]-[ERROR]  BaseControllerROS: [4] Check if all parameters are set correctly
[20230328_22-49-53]-[ERROR]  BaseControllerROS: [5] Check if some motor connections are broken
[20230328_22-49-53]-[ERROR]  BaseControllerROS: [6] Update firmware if versions mismatch

Wie man sieht, scheint es nicht die motor-shields über CAN zu finden zu können

Was ich eingerichtet habe:

/etc/network/interfaces:

auto can0
iface can0 can static
        bitrate 500000

~/catkin_ws/src/evo_rd_platform_example/launch/evo_evotrainer_base_driver.launch

<?xml version="1.0"?>
<launch>
	<arg name="NodeName" default="EvoBaseController" />
	<arg name="kp" default="5.3" />
	<arg name="ki" default="0.0" />

	<node name="$(arg NodeName)" pkg="evo_rd_platform_example" type="base_controller_node" output="screen" >
		<param name="loop_rate_hz" value="30.0" />

			<!-- Subscribers -->
		<param name="topic_sub_cmd_vel" value="cmd_vel" />
		<param name="topic_sub_cmd_lift" value="cmd_lift" />

			<!-- Publishers -->
		<param name="topic_pub_odom" value="odom" />
		<param name="topic_pub_enable_signal_off" value="enable_signal_off" />

		<param name="odom_frame_id" value="odom" />
		<param name="odom_child_frame_id" value="base_footprint" />

			<!-- Joint State publisher -->
		<param name="enable_joint_state_publisher" value="true" />

			<!-- enable tf -->
		<param name="enable_odom_tf" value="true" />

			<!-- can interface -->
		<param name="can_interface_name" value="can0" />

			<!-- behaviour timeouts -->
		<param name="com_timeout_s" value="0.5" />
		<param name="cmd_vel_timeout_s" value="0.5" />
		<param name="cmd_lift_timeout_s" value="0.5" />

			<!-- base params -->
		<param name="debug_motor_mapping" value="false" />

		<param name="wheel_radius_in_m" value="0.058" />
		<param name="wheel_distance_front_back_in_m" value="0.117" />
		<param name="wheel_distance_left_right_in_m" value="0.181" />

			<!-- covariances -->
		<param name="covariance_pos_x" value="1.0" />
		<param name="covariance_pos_y" value="1.0" />
		<param name="covariance_pos_yaw" value="1.0" />
		<param name="covariance_vel_x" value="1.0" />
		<param name="covariance_vel_y" value="1.0" />
		<param name="covariance_vel_yaw" value="1.0" />
	</node>

	<!-- Motor Mapping drives: 0 = no_pos, 1=front_left, 2=front_right, 3=back_right, 4=back_left-->
	<!-- Motor Types: 0 = no_type, 1=lift, 2=drive-->

	<group ns="$(arg NodeName)">
		<param name="init_n_motorshields" value="2" />
		<group ns="ms1">
			<param name="timeout_ms" value="150" />
			<param name="enable" value="true" />

			<group ns="motor0">
				<param name="type" value="2" />
				<param name="ctrl_mode" value="2" />
				<param name="kp" value="$(arg kp)" />
				<param name="ki" value="$(arg ki)" />
				<param name="kd" value="0.0" />
				<param name="pwm_limit" value="100.0" />
				<param name="rpm_limit" value="15.0" />
				<param name="gear_ratio" value="298.0" />
				<param name="encoder_res" value="12.0" />
				<param name="adc_conv" value="0.0" />
				<param name="adc_offs" value="0.0" />
				<param name="motor_mapping" value="1" />
			</group>

			<group ns="motor1">
				<param name="type" value="2" />
				<param name="ctrl_mode" value="2" />
				<param name="kp" value="$(arg kp)" />
				<param name="ki" value="$(arg ki)" />
				<param name="kd" value="0.0" />
				<param name="pwm_limit" value="100.0" />
				<param name="rpm_limit" value="15.0" />
				<param name="gear_ratio" value="298.0" />
				<param name="encoder_res" value="12.0" />
				<param name="adc_conv" value="0.0" />
				<param name="adc_offs" value="0.0" />
				<param name="motor_mapping" value="2" />
			</group>

		</group>

		<group ns="ms2">
			<param name="timeout_ms" value="150" />
			<param name="enable" value="true" />

			<group ns="motor0">
				<param name="type" value="2" />
				<param name="ctrl_mode" value="2" />
				<param name="kp" value="$(arg kp)" />
				<param name="ki" value="$(arg ki)" />
				<param name="kd" value="0.0" />
				<param name="pwm_limit" value="100.0" />
				<param name="rpm_limit" value="15.0" />
				<param name="gear_ratio" value="298.0" />
				<param name="encoder_res" value="12.0" />
				<param name="adc_conv" value="0.0" />
				<param name="adc_offs" value="0.0" />
				<param name="motor_mapping" value="3" />
			</group>

			<group ns="motor1">
				<param name="type" value="2" />
				<param name="ctrl_mode" value="2" />
				<param name="kp" value="$(arg kp)" />
				<param name="ki" value="$(arg ki)" />
				<param name="kd" value="0.0" />
				<param name="pwm_limit" value="100.0" />
				<param name="rpm_limit" value="15.0" />
				<param name="gear_ratio" value="298.0" />
				<param name="encoder_res" value="12.0" />
				<param name="adc_conv" value="0.0" />
				<param name="adc_offs" value="0.0" />
				<param name="motor_mapping" value="4" />
			</group>

		</group>

	</group>
</launch>

/etc/systemd/system/alive-pin.service

[Unit]
description = Set the alive pin for the evotrainer platform

[Service]
Type = oneshot
ExecStart = /bin/sh -c 'echo "22" >/sys/class/gpio/export && echo "out" >/sys/class/gpio/gpio22/direction && echo "1" >/sys/class/gpio/gpio22/value'


[Install]
WantedBy = multi-user.target

symlink zu /etc/systemd/system/multi-user.target.wants/alive-pin.service (autostart)

/boot/config.txt

[...]

# enable USB-OtG Network
dtoverlay=dwc2

# enable can
dtoverlay=mcp2515-can0,oscillator=16000000,interrupt=25
dtoverlay=spi-bcm2835-overlay

# GPIO config for evotrainer platform
dtoverlay=gpio-shutdown,gpio_pin=17,active_low=1,gpio_pull=up
gpio=22=op,pl,dh

Anderes Zeug:

ifconfig output

can0: flags=193<UP,RUNNING,NOARP>  mtu 16
        unspec 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00  txqueuelen 10  (UNSPEC)
        RX packets 78799  bytes 393995 (384.7 KiB)
        RX errors 0  dropped 4636  overruns 0  frame 0
        TX packets 3  bytes 12 (12.0 B)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0
[...]

LEDs

Name	Status
READY	grün, an
CHARGE	aus
FAULT	aus
LED 5	rot, blinkt (1x/s)
LED 6	grün, an
LED 7	grün, an

candump output

  can0  321   [5]  A0 00 00 00 00
  can0  320   [5]  A0 00 00 00 00
  can0  321   [5]  A0 00 00 00 00
  can0  320   [5]  A0 00 00 00 00
  [...]

inhalt des catkin workspaces

src/
├── CMakeLists.txt -> /home/pi/.ros_catkin_ws/install_isolated/share/catkin/cmake/toplevel.cmake
├── evo_dcdc_shield_interface
├── evo_logger
├── evo_motor_shield_interface
├── evo_rd_platform
├── evo_rd_platform_example
├── evo_robot_base_interface
└── evo_tof_board_interface

Ist vielleicht die Firmware der controller nicht kompatibel mit dem ros Knoten?
Oder habe ich mich irgendwo vertippt?

Vielen Dank in voraus,
Sam

snaens · March 28, 2023, 11:49pm

ich habe das jetzt mit

zum laufen bekommen

MarkusEdu · March 30, 2023, 6:49am

Hi. Super, dass du das hinbekommen hast! Ein Lob gilt auch deiner guten Fehlerbeschreibung.

stefan.may · March 31, 2023, 7:48am

Hallo Sam,
die Firmware ist die gleiche. Mir ist das evotrainer-Framework auch zu komplex. Die Software aus robotworkshop habe ich selbst geschrieben. Damit kenne ich mich aus. Wenn Du dennoch einen Vorteil siehst, das Paket evotrainer zu verwenden, den Entwickler könnte ich auch noch erreichen.
Viele Grüße
Stefan May

snaens · March 31, 2023, 9:28am

Ich sehe da ehrlich gesagt auch keinen Vorteil drin, und es ist wirklich viel zu komplex.
Das würde nur das programmieren erschweren.

Wir wollen uns jetzt sowieso mit der steuer-software auseinandersetzen, damit die richtig schick und leicht zum starten wird. Die Software auf dem Robot selber ist erstmal unwichtig.

Vielen Dank für die Info,
LG, Sam

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