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  1. Re: Example yaml file for arbotix_python io sensors?

    Ah, I see what you mean. Unfortunately I have never used a two-servo joint so I'm not sure how to handle that using arbotix_python. Sorry!

    --patrick
  2. Re: Example yaml file for arbotix_python io sensors?

    This is the yaml file I use with a 6-joint Dynamixel arm + 1-joint gripper and a 2-joint pan-and-tilt head:


    port: /dev/ttyUSB0
    baud: 115200
    rate: 20
    sync_write: True
    sync_read: True...
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    Re: Giskard: a low cost ROS powered robot

    What happens if you take the network out of the loop and send the move_base goal directly on the robot's netbook like this:


    $ rostopic pub /move_base_simple/goal geometry_msgs/PoseStamped '{...
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    Re: Giskard: a low cost ROS powered robot

    Awesome looking robot!
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    Re: ROS? And how can it help me?

    The only thing I might add to what Fergs said is that ROS is a fairly big commitment. If you are starting from scratch, expect to spend a fair bit of time getting up to speed, especially if you're...
  6. Thread: Arbotix 0.5.0

    by Pi Robot
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    Re: Arbotix 0.5.0

    Thanks Fergs! And good to hear that the Debs will be coming soon. Thanks especially for working on the patches while you are traveling!

    --patrick
  7. Thread: Arbotix 0.5.0

    by Pi Robot
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    Re: Arbotix 0.5.0

    Arghhh. My bad again. I had an old ~dynamixels parameter lying around on the Parameter server from an earlier launch. Sorry.

    --patrick
  8. Thread: Arbotix 0.5.0

    by Pi Robot
    Replies
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    Re: Arbotix 0.5.0

    Hi Fergs,

    It looks like you made a tweak to arbotix_python in trunk a couple of days ago (r803 - "revert removal of dynamixels/servos dictionaries, note tick-tock") and now I am getting the...
  9. Thread: Arbotix 0.5.0

    by Pi Robot
    Replies
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    12,388

    Re: Arbotix 0.5.0

    Thanks Fergs,

    Took me forever to figure it out--the KeyError was actually coming from inside follow_controller.py due to the fact that my servo dictionary was called "dynamixels" in my YAML file...
  10. Thread: Arbotix 0.5.0

    by Pi Robot
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    12,388

    Re: Arbotix 0.5.0

    Hey Fergs,

    I just put together a shiny new PhantomX Turret with AX-12s and the ArbotiX that comes with it. The ROS firmware loaded fine and everything works as advertised if I use the ROS...
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    Re: robot management

    Hi Peter,

    One option might be rosbridge + mjpeg server. Scott Bell wrote such an interface for my pi_face_tracker ROS package. You can find Scott's write-up at:
    ...
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    Re: Anyone using omnidirectional drive?

    Hi Peter,

    Very impressive! And really nice blog. Not sure if you're already aware of http://planet.ros.org where you can add your RSS feed and have your posts automatically show up there. I...
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    Re: Anyone using omnidirectional drive?

    This is really good news! Looking forward to following your progress creating a ROS controller for the Nexus omni-drive.

    --patrick
  14. Re: Getting arbotix_python diff_controller to hold a straight line

    Success! Your estimate of Kp=10 was almost bang on. Setting Kp=12 seemed to give the best result. After that, setting Kd=12 also seemed to give the best result. I'm now getting around 4-6%...
  15. Re: Getting arbotix_python diff_controller to hold a straight line

    Thanks Fergs--this sounds very promising. Not sure if I'll get time to test it before tonight's HBRC SIG meeting but I'll post back the results when I do. In the meantime, the theoretical max speed...
  16. Getting arbotix_python diff_controller to hold a straight line

    Hey Fergs,

    I am testing out the arbotix_python diff_controller for the first time on a new robot base that (as you know) uses these Pololu motors and encoders. After launching my arbotix_python...
  17. Re: Example yaml file for arbotix_python io sensors?

    So to get the reading from an analog voltage sensor on analog pin 6, I used:

    analog_sensors: {
    voltage: {pin: 6, rate: 1} ...
  18. Example yaml file for arbotix_python io sensors?

    Hi Fergs,

    I would like to attach some analog and digital sensors to my ArbotiX and read them using arbotix_python under ROS. However, on your ROS Wiki page for io, the sample yaml file is missing...
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    Re: Anyone using omnidirectional drive?

    Congratulations Peter--that is simply awesome!

    --patrick
  20. Re: Any experience with ROS + Asus Xtion Pro Live RGB-D camera?

    Definitely. I monitored the temperature of an AX-12 holding the Kinect at about 20 degrees downward and it climbed toward 60 degrees within about 20 minutes. And I gutted the Kinect's motors from...
  21. Re: Any experience with ROS + Asus Xtion Pro Live RGB-D camera?

    Interesting--too bad one of the improvements isn't to run solely off a USB port like the Asus; i.e. without the need for an additional power source.

    --patrick
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    Re: Anyone using omnidirectional drive?

    Yet another commercial variant that I found on the Robot Marketplace website:

    http://www.robotmarketplace.com/products/0-FB003.html

    Here it is on the manufacturer's website:
    ...
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    Re: Anyone using omnidirectional drive?

    Hey Fergs,

    Yeah, I've been wondering about the price/quality ratio of these platforms. There's not a whole lot of information on their website--not even a video of one of the robots moving.
    ...
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    Re: Anyone using omnidirectional drive?

    Hey Peter,

    That is a fantastic looking robot! I was on the Robotshop website the other day and came upon a new commercial omnidirectional platform:
    ...
  25. Thread: Arbotix 0.5.0

    by Pi Robot
    Replies
    17
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    12,388

    Re: Arbotix 0.5.0

    Bingo! I'm all set. Thanks for the light-speed turnaround.

    --patrick
  26. Thread: Arbotix 0.5.0

    by Pi Robot
    Replies
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    12,388

    Re: Arbotix 0.5.0

    Thanks Fergs,

    After updating to your patch I can now connect to the USB2Dynamixel and move the servos with controllerGUI.py. However, I am seeing only 0's on /joint_states so that, for example,...
  27. Thread: Arbotix 0.5.0

    by Pi Robot
    Replies
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    12,388

    Re: Arbotix 0.5.0

    Hey Fergs,

    I am trying to get the latest version of ros-electric-arbotix to work with a USB2Dynamixel controller but at launch time I simply get a list of "Waiting for response..." messages and...
  28. Re: Any experience with ROS + Asus Xtion Pro Live RGB-D camera?

    Thanks Fergs,

    Yeah, that all looks very appealing, though I was hoping for closer range depth info. Not that I need it right now, but it would be nice sometimes to be able to mount the camera...
  29. Any experience with ROS + Asus Xtion Pro Live RGB-D camera?

    Hello,

    Has anyone tried the new Asus Xtion Pro Live RGB-D camera with the ROS openni drivers? In particular, how close to the camera can one get a depth image? I think the Kinect is only good to...
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    Re: Anyone using omnidirectional drive?

    Thanks for the info! Some day I have to give my robot's torso the ability to rotate like yours but I am working on a smaller scale so I will hope to use either an AX-12 or something slightly bigger...
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    Re: Anyone using omnidirectional drive?

    Wow! That is a really nice platform! Can I ask how you rotated the upper platform? Is it on a lazy susan style bearing and if so, what kind? No problem if the answer would give too much away. ;)...
  32. Re: Laptop USB system fails when Kinect + 2 x USB2Dynamixels plugged in

    Hey Fergs,

    Thanks for your help at the HBRC meeting last night and Pi Robot says Mini Maxwell is looking particularly resplendent these days. ;)

    Some good (though weird) news on my USB lockup...
  33. Re: Laptop USB system fails when Kinect + 2 x USB2Dynamixels plugged in

    Here's the output from lsusb with both Dynamixels and the Kinect attached to a powered 4-port D-Link USB hub. BTW, I am still using the Diamondback openni driver since the new Electric launch file...
  34. Re: Laptop USB system fails when Kinect + 2 x USB2Dynamixels plugged in

    Hey Fergs,

    Yes, I'm gonna be at the SIG tonight and I'll bring the laptop and robot. I might be able to get you the lsusb output before then...

    --patrick
  35. Laptop USB system fails when Kinect + 2 x USB2Dynamixels plugged in

    I wonder if anyone has experienced this before or has an idea how I might fix it. I'm running ROS on a Fujitsu i5 Lifebook laptop (model T730). It does very well processing video from a Kinect and...
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    Re: Anyone using omnidirectional drive?

    Hey Hash,

    No, I stopped pursuing an omni-directional drive system for Pi Robot since I have too many other things to learn about ROS, like arm navigation and object recognition. So it ended up in...
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    Re: ROS + Serializer

    Hi Ringo,

    Glad you figured it out and thanks for reporting the bug (which I just confirmed). Seems the trigger pulse on the MaxEZ (or a Ping sensor) is not timing out when the sensor is not...
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    Re: ROS + Serializer

    Hi Ringo,

    Perhaps you are just typing "/Odom" with a capital O in your message, but the topic name is actually "/odom" with a lower case "o". You won't see anything on "/Odom" as it doesn't...
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    Re: ROS + Serializer

    Hi Ringo,

    Yes, as long as you have the parameter use_base_controller set to True in your params file (which I think you do since we talked earlier about tweaking the PID parameters), odometry info...
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    Re: ROS + Serializer

    Hi Peter,

    That's great! Not the best solution, I admit, but at least you are up and running again.

    --patrick
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