# Evotrainer setup

**URL:** <https://forum.eduart-robotik.com/t/evotrainer-setup/89>\
**Category:** Hardware\
**Created:** [March 28, 2023, 10:23pm UTC](https://forum.eduart-robotik.com/t/evotrainer-setup/89 "2023-03-28T22:23:08Z")\
**Posts on this page:** 5\
**Page:** 1

<div class="post-metadata">

**Author:** ![snaens](https://dub1.discourse-cdn.com/flex013/user_avatar/forum.eduart-robotik.com/snaens/32/72_2.png) [@snaens](https://forum.eduart-robotik.com/u/snaens)\
**Post date:** [March 28, 2023, 10:23pm UTC](https://forum.eduart-robotik.com/t/evotrainer-setup/89/1 "2023-03-28T22:23:08Z")

</div>

# 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

```auto
[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
auto can0
iface can0 can static
        bitrate 500000

```

  

* * *

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

```xml
<?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`

```auto
[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`

```auto
[...]

# 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`

```auto
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`

```auto
  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`

```auto
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

---

<div class="post-metadata">

**Author:** ![snaens](https://dub1.discourse-cdn.com/flex013/user_avatar/forum.eduart-robotik.com/snaens/32/72_2.png) [@snaens](https://forum.eduart-robotik.com/u/snaens)\
**Post date:** [March 28, 2023, 11:49pm UTC](https://forum.eduart-robotik.com/t/evotrainer-setup/89/2 "2023-03-28T23:49:32Z")

</div>

ich habe das jetzt mit

> **[GitHub - autonohm/robotworkshop at motorControllerRedesign](https://github.com/autonohm/robotworkshop/tree/motorControllerRedesign)**
>
> motorControllerRedesign

zum laufen bekommen

---

<div class="post-metadata">

**Author:** ![MarkusEdu](https://dub1.discourse-cdn.com/flex013/user_avatar/forum.eduart-robotik.com/markusedu/32/30_2.png) [@MarkusEdu](https://forum.eduart-robotik.com/u/MarkusEdu)\
**Post date:** [March 30, 2023, 6:49am UTC](https://forum.eduart-robotik.com/t/evotrainer-setup/89/3 "2023-03-30T06:49:40Z")

</div>

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

---

<div class="post-metadata">

**Author:** ![stefan.may](https://dub1.discourse-cdn.com/flex013/user_avatar/forum.eduart-robotik.com/stefan.may/32/48_2.png) [@stefan.may](https://forum.eduart-robotik.com/u/stefan.may)\
**Post date:** [March 31, 2023, 7:48am UTC](https://forum.eduart-robotik.com/t/evotrainer-setup/89/4 "2023-03-31T07:48:35Z")

</div>

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

---

<div class="post-metadata">

**Author:** ![snaens](https://dub1.discourse-cdn.com/flex013/user_avatar/forum.eduart-robotik.com/snaens/32/72_2.png) [@snaens](https://forum.eduart-robotik.com/u/snaens)\
**Post date:** [March 31, 2023, 9:28am UTC](https://forum.eduart-robotik.com/t/evotrainer-setup/89/5 "2023-03-31T09:28:00Z")

</div>

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