-
Notifications
You must be signed in to change notification settings - Fork 90
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Newest roboclaw_python_library and various changes #26
base: master
Are you sure you want to change the base?
Commits on Sep 6, 2018
-
Fix typo when reading ticks_per_meter parameter
SYMPTOM: self.TICKS_PER_METER is always at default value, regardless of value in roboclaw.launch or any other parameter server. CAUSE: A typo in call to rospy.get_param() means it is trying to retrieve a value that does not exist, instead of the intended parameter value. FIX: Add missing 's' to properly retrieve 'ticks_per_meter' value
Configuration menu - View commit details
-
Copy full SHA for 8c05882 - Browse repository at this point
Copy the full SHA 8c05882View commit details -
Fix to avoid TypeError with encoder count value of 'None'
SYMPTOM: Unpredictable erros occurring at runtime File "roboclaw_node.py", line 232, in run rospy.logdebug(" Encoders %d %d" % (enc1, enc2)) TypeError: %d format: a number is required, not NoneType CAUSE: Error when calling roboclaw.ReadEnc would result in encoder values 'enc1' or 'enc2' to be None instead of a number. This triggers TypeError as described above. FIX: Do exactly what TypeError wants us to do: make sure both 'enc1' and 'enc2' are numbers before trying to format them as numbers for logging. (Note this does not address root cause of ReadEnc failure, that will be submitted as a separate fix.) REFERENCE: Python number check courtesy of StackOverflow: https://stackoverflow.com/questions/3441358/what-is-the-most-pythonic-way-to-check-if-an-object-is-a-number
Configuration menu - View commit details
-
Copy full SHA for a79c2f3 - Browse repository at this point
Copy the full SHA a79c2f3View commit details -
Fix serial sync errors caused by multi thread collision
SYMPTOM: Unpredictable errors when calling roboclaw API, manifesting in several different forms such as "OSError: 11" CAUSE: The roboclaw API is not thread-safe, but we have three different threads potentially calling into the API simultaneously. When this occurs, errors follow. 1. self.run for our '/odom' publisher thread 2. self.cmd_vel_callback as '/cmd_vel' subscriber 3. self.check_vitals running for diagnostics FIX: Use a threading.Lock() object to synchronize usage of roboclaw API object. Thereby ensuring only one thread will be communicating with roboclaw at any given time. REFERENCES: ROS Python API Threading Model https://answers.ros.org/question/9543/rospy-threading-model/ StackOverflow "Semaphores on Python" https://stackoverflow.com/questions/31508574/semaphores-on-python
Configuration menu - View commit details
-
Copy full SHA for 163e369 - Browse repository at this point
Copy the full SHA 163e369View commit details
Commits on Sep 8, 2018
-
Fix left/right reversal in odometry update
SYMPTOM: When robot turns right, /odom pose orientation turns left. (And vice versa.) However, the odom->base_link transform is correct. CAUSE: Encoder odometry entry point update_publish(enc_left,enc_right) is invoked with update_publish(enc1, enc2). But this is backwards. As per cmd_vel_callback, motor 1 is the right-hand side motor and motor 2 the left-hand side. As a result odometry calculations are reversed. Why does the odom->base_link transform look OK? An earlier change added a negative sign in front of the published transform angle. This only masked the error without fixing the underlying cause, resulting in reversed /odom data and leaving variables like self.last_enc_right holding the wrong values. FIX: Reverse the parameters when calling update_publish so they are correct. And now that the underlying problem is addressed, the negative sign must be removed from the angle when publishing transform.
Configuration menu - View commit details
-
Copy full SHA for 85d8537 - Browse repository at this point
Copy the full SHA 85d8537View commit details
Commits on Sep 11, 2018
-
Configuration menu - View commit details
-
Copy full SHA for 3eb8ffc - Browse repository at this point
Copy the full SHA 3eb8ffcView commit details -
Configuration menu - View commit details
-
Copy full SHA for 6481125 - Browse repository at this point
Copy the full SHA 6481125View commit details -
Configuration menu - View commit details
-
Copy full SHA for ad920e0 - Browse repository at this point
Copy the full SHA ad920e0View commit details -
Configuration menu - View commit details
-
Copy full SHA for a4ce0bc - Browse repository at this point
Copy the full SHA a4ce0bcView commit details
Commits on Apr 16, 2020
-
Merge pull request #1 from Roger-random/ticks-per-meter-pr
Fix typo when reading ticks_per_meter parameter
Configuration menu - View commit details
-
Copy full SHA for 140036c - Browse repository at this point
Copy the full SHA 140036cView commit details -
Configuration menu - View commit details
-
Copy full SHA for 37884df - Browse repository at this point
Copy the full SHA 37884dfView commit details
Commits on Apr 17, 2020
-
Configuration menu - View commit details
-
Copy full SHA for 3210bd7 - Browse repository at this point
Copy the full SHA 3210bd7View commit details
Commits on Aug 18, 2020
-
Configuration menu - View commit details
-
Copy full SHA for f668f19 - Browse repository at this point
Copy the full SHA f668f19View commit details -
Configuration menu - View commit details
-
Copy full SHA for 0c48c96 - Browse repository at this point
Copy the full SHA 0c48c96View commit details -
Configuration menu - View commit details
-
Copy full SHA for 7c48256 - Browse repository at this point
Copy the full SHA 7c48256View commit details -
updated status(error) bit mask
- according to docu rev. 5.4 - for firmware 4.1.34
Configuration menu - View commit details
-
Copy full SHA for 0feac35 - Browse repository at this point
Copy the full SHA 0feac35View commit details
Commits on Aug 19, 2020
-
Configuration menu - View commit details
-
Copy full SHA for 0595919 - Browse repository at this point
Copy the full SHA 0595919View commit details
Commits on Nov 18, 2020
-
Configuration menu - View commit details
-
Copy full SHA for ff5cfe4 - Browse repository at this point
Copy the full SHA ff5cfe4View commit details -
Configuration menu - View commit details
-
Copy full SHA for e5d6bbb - Browse repository at this point
Copy the full SHA e5d6bbbView commit details -
Configuration menu - View commit details
-
Copy full SHA for f13e1ae - Browse repository at this point
Copy the full SHA f13e1aeView commit details -
Configuration menu - View commit details
-
Copy full SHA for f7afe13 - Browse repository at this point
Copy the full SHA f7afe13View commit details