Ylo3-real-robot-controller-on-quad-sdk-noetic-ekf-hardware

[elpimous]

Hello all,
Working on ylo2 robot real controller.
Torque mode ?!! with BLDC controllers.

Any help will be very appreciated !!!

[elpimous]

Questions : I'm not certain to know what order the quad-sdk controller sends to motors controllers.
The send command is position, velocity and torque, or only torque(tau)?
The read command reads pos, vel, torque, correct?
Is there anywhere, the code for a real robot? I could learn it and adapt it to my robot.
Thanks friends.
Vincent

[ardalantj]

Hi @elpimous. Thank you for contributing to quad-sdk. Perhaps we should add this in the documentation, but it would be great to write a specific summary of what features the PR is adding. Regarding your question, in hardware interface (part of robot driver package) we define the interface to hardware and send position/velocity set points, feedforward toques, and kp/kd feedback gains. Depending your specific hardware, you may have to change the specifics of the hardware interface. For our specific case (Spirit 40), commands are sent over mblink from tx2 to the mainboard. Let us know if you have any follow ups.

[elpimous]

Hello @ologandavid I'm working on it now, i'll send working files pretty soon..
And I'll update this discussion file.

[elpimous]

Hello @ologandavid, It builds without errors, now, and simulation is working.

However, I have some errors on catkin run_tests :
some fails with KinematicsTest, and local_planner ?! Perhaps could you help here ?

[ologandavid]

Hi @elpimous,
Yup, good to hear from you! I can take a look and see if I can debug the issue.

Best,
David Ologan

[elpimous]

hi, @ologandavid
Do you have an idea of when I will be able to use a ready ekf version working on hardware too ?
Ready to test on my machine.
Impatient to hear from you, David
Vincent

[ologandavid]

Hi @elpimous ,
We're currently planning on an End of Summer release for Quad-SDK with a bunch of new functionality. Just want to sure everything is tested before we pass it on to you. I'm also reviewing your pull request. Thanks for your patience!

Best,
David Ologan

[elpimous]

Hello @ologandavid @jrenaf
Like you told me, Jiming, I tested to run real robot, removing the "/" on local_plan topics, but the problem persists !
Local plan doesn't work as expected, and rviz shows erratic arrows on foots.
Here is a video showing all working nodes, + t265 + internal imu.
In the end video, I lifted the robot in the air by hand, to check same moves in rviz.

capture02.mp4

Hope you'll be able to help.
Vincent

[elpimous]

Hi @elpimous , We're currently planning on an End of Summer release for Quad-SDK with a bunch of new functionality. Just want to sure everything is tested before we pass it on to you. I'm also reviewing your pull request. Thanks for your patience!

Best, David Ologan

Very cool !! Thanks friends.

[elpimous]

Hello @ologandavid
any news with a noetic working ekf hardware version.?
Impatient to test.
😅

[elpimous]

Hi @ologandavid @ardalantj.
Any update soon, for a noetic on real robot ?

[ologandavid]

Hi @elpimous,
Sorry for the inconvenience, we've been having trouble with the hardware platform we normally use to test in lab. It's not hardware tested so I can't guarantee it'll work on hardware, but feel free to checkout the noetic_devel_ekf_clean branch. It's an implementation of the EKF shown here and here. It currently works in simulation, but you'd have to tune the estimator noise parameters, and input the initialization pose of your robot.

Best,
David Ologan

[elpimous]

Hi @ologandavid Happy to hear from you.
Thanks a lot, I'll test it on my hardware and i'll send feedback

[ologandavid]

@elpimous,
Any updates on this branch, I'm still getting build errors on my end.

-David

[elpimous]

Sorry, it was paused ...
Ill modify it, with my next tests on Noetic ekf tests.
Ill keep you informed .

[elpimous]

@ologandavid Could you tell what packages to run to test in real ?
using :
roslaunch quad_utils remote_driver.launch robot_type:=spirit
roslaunch quad_utils robot_driver.launch robot_type:=spirit
(modified original spirit_interface to avoid external conflicts, for now)
(robot_driver.launch launches the imu node too)

rviz presents only spirit body, in white !

[ologandavid]

The packages you're running are correct, but the visualization won't have a transform or state information if you don't specify the estimator you're using while launching robot driver. These should either be comp_filter (mocap) the default or ekf_filter (EKF estimator). That's the primary reason your visualization has difficulty loading in the robot. By the way, you shouldn't need to specify robot_type as spirit is the default.

[elpimous]

I set : into robot_driver.launch.
same error.

I don't use heartbeat function.
?

Morever, in terminal, spin() seems to stop after a few second (3 to 6s) see pict