alex-makarov / robaka-ros Goto Github PK

Hi @alex-makarov,

what exact IMU and GPS hardware did you use? We try to rebuild the robot hardware identically. We follow the article under https://medium.com/@alxm/converting-a-hoverboard-into-a-self-driving-mobile-robot-with-ros-d886c867e8a9

Great work and thanx in advance!

Greetz,
gotros

Hi
below for my install problem:
1,download robaka sources to /home/root from your github.
2.run rosdep install robaka
problem-> Missing resource robaka

Hi,
what hoverboard-firmware version works with hoverboard-driver and API? I get a timeout on ttyTH1 when I roslaunch headlessrobaka.launch with newest firmware and latest hoverboard-driver and API. I triple checked the cabling. Any hints?
thx in advance,
gotros

Hi,

where do I find the sources for the adafruit_imu package?

<!-- IMU -->
  <node pkg="adafruit_imu" type="imu_node" name="imu_node" output="screen" />
  <!-- IMU filter -->
  <include file="$(find robaka)/launch/include/imu.launch" />

Is this the right repository?
https://github.com/rolling-robot/adafruit_imu
I does not compile on the jetson nano. I guess I have the wrong std header files - too new?

Thx in advance,
gotros

Hello,

I try to get the RPLidar A1 running with following commands

roslaunch rplidar_ros rplidar.launch
roslaunch hector_slam_launch tutorial.launch

But I get this error in rviz.

"No tf data. Actual error: Fixed Frame [map] does not exist"

Ubuntu 18.04 on a Jetson Nano

I made following changes to the hector_mapping's mapping_default.launch

param name="pub_map_odom_transform" value="true"/>
param name="map_frame" value="map" />
param name="base_frame" value="base_frame" />
param name="odom_frame" value="base_frame" />

The /tf/world topic is missing. Do you have a hint? Maybe it's something basic.

Regards,
gotros

Hi!
Tell me please which Bipropellant firmware mode you used in this project?
There are 9 modes that can be build, like:

;default_envs = genericSTM32F103RC
;default_envs = hoverboard
;default_envs = hoverboard_6word
;default_envs = control_softwareserial
;default_envs = control_usart2
;default_envs = control_usart3
;default_envs = control_usart3_ADC
;default_envs = control_ADC
;default_envs = control_PPM

Thank you.

Hi Alex, and thanks for a very nice platform to build of, would it be any chance you could add Joy / teleop_twist_joy to you repository so i can use a Xbox controller ? i dont have a ds4 and have been trying for to days to get the xbox controller to work, but i am stil very novice to ROS, would really appreciate it if you could help me out.

Currently robaka seems to connect to the hoverboard, but i have no functional way of moving the wheels
Btw, using a Nvidia AGX.

I am using the firmware you are linking to, setup for Uart2, after a few minutes i get a continues beeping that never stops until i power the hoverboard on and off, any idea what that beeping could mean ?

Hi Alex,

I notice you are using a GD32F103 chip based main board, did you have any problems to build or upload the original Niklas code? Im trying to upload the code using STLink v2, but my board doesn't enter on DFU mode using the power wires.

Thanks for sharing the project!

Hi Alex,
thanks for mentioning and using our repo.
I created it specifically for this kind of purpose, but have had so little time over the last year or so to give it attention.
However, yesterday I obtained a 22v vacuum cleaner, so at least one of my hoverboards will now have purpose - to pick up the doghair everywhere....
br,
btsimonh

What is the reason for the outcome below after launching slammingrobaka?

RLException: while processing /home/ubuntu/catkin_ws/src/robaka-ros/launch/headlessrobaka.launch:
Invalid tag: Cannot load command parameter [robot_description]: command [['/opt/ros/melodic/lib/xacro/xacro', '--inorder', '/home/ubuntu/catkin_ws/src/robaka-ros/urdf/robaka_v2.xacro']] returned with code [2].

Param xml is
The traceback for the exception was written to the log file

I can't seem to get past this, I checked every possible document regarding the xacro and such. Any ideas?

Hello! Thanks for a great project. I've managed to create map (pbstream), but can't navigate with it. Steps I've made

ROBOT: roslaunch robaka slammingrobaka.launch
PC: roslaunch robaka uirobaka.launch
PC: rosbag record -a -O ./mylaserdata10.bag

Stopped everything and ran

PC: cartographer_rosbag_validate -bag_filename=mylaserdata10.bag
PC roslaunch robaka offline_slam.launch bag_filenames:=/home/username/catkin_ws/mylaserdata10.bag

Now I have pbstream file on PC. After ran:

ROBOT: roslaunch robaka headlessrobaka.launch
PC: roslaunch robaka robaka_cartographer_localization.launch load_state_filename:=FULLPATH/mylaserdata10.bag.pbstream

Robot localizes itself, but i can't send Nav Goal. What am I doing wrong?

UPD: PC doesn't receive /move_base/local/global_costmap/costmap

SOLVED: Setup PC's IP
PC: export ROS_IP=192.168.xxx.xxx

@alex-makarov Which script you used for send outputs to gpio?

when running roslaunch headlessrobaka.launch
have errror RLException: unused args [topic] for include of [/home/user/catkin_ws/src/ds4_driver/launch/ds4_twist.launch]
I remove this in the headlessrobaka.launch, then launch successfully.
What is the usage of

hi alex
my os version:18.04, but i cant run rosdep install robaka. please help check this. thanks~

wrong area... sorry ... I shoud be ask at hoverboard-driver... I am really sorry... I don't know how to delete it...