The best team is sometimes the B team...
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The best team is sometimes the B team...
Maybe joint_targets, or ctl_thetas. I'd like to add more support for closing the loop in future (time delayed status updates, or detachment confirmation). Needs to be changed in both ROS code and Arduino Code
To simplify lock-step add
<- ID completed
-> Next move
at each planner step.
Also, Serverize robot state? Waypoints?
Should start on that after testing of refactored Arduino codebase on 2/24
Should probably try and wire up to a separate i2c bus than the servo control board, for nice hardware and software issue isolation
I noticed at the SVE that our battery status indicator never dropped, even though the battery voltage was dangerously low after the demo. We need to re-calibrate it. For simplicity, I moved the battery calibrations into spacejockey/config/arduino.yaml under ROS, but those values need to be updated
To update them, load the newest Arduino firmware onto the robot, hook it into the benchtop power supply (via the Power board), run spacejockey.launch, and then rostopic echo 'battery_raw' (with the robot connected). Adjusting the supply voltage to 6.8V (min) and then 8.5V (max) should give us the correct calibration values.
Also, you may want to electrical tape (or heat shrink) the battery monitor wire (white pin) firmly on the PDB, I noticed it was coming loose before.
Nate/Brian both assigned.
Should add publisher to major_planner node
Also add Viz_msg rendering to new OpenCV GUI
Will make waypoints show up both in rViz and our GUI...
Try HSV, Vignetting, and LED Headlights/nightvision.
Combined warped images should give a nice map when working properly.
6-32 servo mount screws are stripping out on the linear actuator and rotary servo mounts, need to print a test piece with different hole sizes and 3 shells, and find the tightest hole that the screws will self-tap into.
Servo installation impossible, need to re-size vertical bearing supports
Finally got a backtrace for this issue:
*** glibc detected *** /usr/bin/python: double free or corruption (fasttop): 0x00007f8bbc002440 ***
======= Backtrace: =========
/lib/x86_64-linux-gnu/libc.so.6(+0x7eb96)[0x7f8c1a233b96]
/usr/lib/x86_64-linux-gnu/libQtGui.so.4(+0x3e8848)[0x7f8c148a3848]
/usr/lib/x86_64-linux-gnu/libQtGui.so.4(_ZN14QWidgetPrivate16syncBackingStoreEv+0x80)[0x7f8c146c9ac0]
/usr/lib/x86_64-linux-gnu/libQtGui.so.4(_ZN7QWidget5eventEP6QEvent+0xb4c)[0x7f8c146d760c]
/usr/lib/x86_64-linux-gnu/libQtGui.so.4(_ZN11QMainWindow5eventEP6QEvent+0x6b)[0x7f8c14ab0c8b]
/usr/lib/python2.7/dist-packages/PyQt4/QtGui.so(+0x366a19)[0x7f8c154efa19]
/usr/lib/x86_64-linux-gnu/libQtGui.so.4(_ZN19QApplicationPrivate13notify_helperEP7QObjectP6QEvent+0xb4)[0x7f8c14686894]
/usr/lib/x86_64-linux-gnu/libQtGui.so.4(_ZN12QApplication6notifyEP7QObjectP6QEvent+0x113)[0x7f8c1468b713]
/usr/lib/python2.7/dist-packages/PyQt4/QtGui.so(+0x4b3a99)[0x7f8c1563ca99]
/usr/lib/x86_64-linux-gnu/libQtCore.so.4(_ZN16QCoreApplication14notifyInternalEP7QObjectP6QEvent+0x8c)[0x7f8c15eeee9c]
/usr/lib/x86_64-linux-gnu/libQtCore.so.4(_ZN23QCoreApplicationPrivate16sendPostedEventsEP7QObjectiP11QThreadData+0x46a)[0x7f8c15ef2c6a]
/usr/lib/x86_64-linux-gnu/libQtCore.so.4(+0x1a9f93)[0x7f8c15f1df93]
/lib/x86_64-linux-gnu/libglib-2.0.so.0(g_main_context_dispatch+0x133)[0x7f8c17911d13]
/lib/x86_64-linux-gnu/libglib-2.0.so.0(+0x48060)[0x7f8c17912060]
/lib/x86_64-linux-gnu/libglib-2.0.so.0(g_main_context_iteration+0x34)[0x7f8c17912124]
/usr/lib/x86_64-linux-gnu/libQtCore.so.4(_ZN20QEventDispatcherGlib13processEventsE6QFlagsIN10QEventLoop17ProcessEventsFlagEE+0x6f)[0x7f8c15f1e3bf]
/usr/lib/x86_64-linux-gnu/libQtGui.so.4(+0x273d9e)[0x7f8c1472ed9e]
/usr/lib/x86_64-linux-gnu/libQtCore.so.4(_ZN10QEventLoop13processEventsE6QFlagsINS_17ProcessEventsFlagEE+0x32)[0x7f8c15eedc82]
/usr/lib/x86_64-linux-gnu/libQtCore.so.4(_ZN10QEventLoop4execE6QFlagsINS_17ProcessEventsFlagEE+0xf7)[0x7f8c15eeded7]
/usr/lib/x86_64-linux-gnu/libQtCore.so.4(_ZN16QCoreApplication4execEv+0x87)[0x7f8c15ef2f67]
/usr/lib/python2.7/dist-packages/PyQt4/QtGui.so(+0x47fc5e)[0x7f8c15608c5e]
/usr/bin/python(PyEval_EvalFrameEx+0x2a4)[0x486614]
/usr/bin/python(PyEval_EvalCodeEx+0x1a0)[0x48d930]
/usr/bin/python(PyEval_EvalFrameEx+0x848)[0x486bb8]
/usr/bin/python(PyEval_EvalCodeEx+0x1a0)[0x48d930]
/usr/bin/python(PyEval_EvalFrameEx+0x848)[0x486bb8]
/usr/bin/python(PyEval_EvalCodeEx+0x1a0)[0x48d930]
/usr/bin/python(PyRun_FileExFlags+0xe1)[0x4246a1]
/usr/bin/python(PyRun_SimpleFileExFlags+0x1ce)[0x42492e]
/usr/bin/python(Py_Main+0x536)[0x425cb6]
/lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xed)[0x7f8c1a1d676d]
/usr/bin/python[0x41bb31]
======= Memory map: ========
00400000-00670000 r-xp 00000000 08:03 395128 /usr/bin/python2.7
00870000-00871000 r--p 00270000 08:03 395128 /usr/bin/python2.7
00871000-008da000 rw-p 00271000 08:03 395128 /usr/bin/python2.7
008da000-008ec000 rw-p 00000000 00:00 0
018d5000-04913000 rw-p 00000000 00:00 0 [heap]
7f8bbc000000-7f8bbc021000 rw-p 00000000 00:00 0
7f8bbc021000-7f8bc0000000 ---p 00000000 00:00 0
7f8bc4000000-7f8bc4021000 rw-p 00000000 00:00 0
7f8bc4021000-7f8bc8000000 ---p 00000000 00:00 0
7f8bc8000000-7f8bc8021000 rw-p 00000000 00:00 0
7f8bc8021000-7f8bcc000000 ---p 00000000 00:00 0
7f8bcc000000-7f8bcc021000 rw-p 00000000 00:00 0
7f8bcc021000-7f8bd0000000 ---p 00000000 00:00 0
7f8bd1845000-7f8bd1bfb000 rw-s 00000000 00:04 17760265 /SYSV00000000 (deleted)
7f8bd1bfb000-7f8bd1bfc000 ---p 00000000 00:00 0
7f8bd1bfc000-7f8bd23fc000 rw-p 00000000 00:00 0 [stack:11046]
7f8bd23fc000-7f8bd23fd000 ---p 00000000 00:00 0
7f8bd23fd000-7f8bd2bfd000 rw-p 00000000 00:00 0 [stack:11045]
7f8bd2bfd000-7f8bd2bfe000 ---p 00000000 00:00 0
7f8bd2bfe000-7f8bd33fe000 rw-p 00000000 00:00 0
7f8bd33fe000-7f8bd33ff000 ---p 00000000 00:00 0
7f8bd33ff000-7f8bd4000000 rw-p 00000000 00:00 0
7f8bd4000000-7f8bd4021000 rw-p 00000000 00:00 0
7f8bd4021000-7f8bd8000000 ---p 00000000 00:00 0
7f8bd8000000-7f8bd8021000 rw-p 00000000 00:00 0
7f8bd8021000-7f8bdc000000 ---p 00000000 00:00 0
7f8bdc000000-7f8bdc021000 rw-p 00000000 00:00 0
7f8bdc021000-7f8be0000000 ---p 00000000 00:00 0
7f8be0000000-7f8be0021000 rw-p 00000000 00:00 0
7f8be0021000-7f8be4000000 ---p 00000000 00:00 0
7f8be4000000-7f8be4048000 rw-p 00000000 00:00 0
7f8be4048000-7f8be8000000 ---p 00000000 00:00 0
7f8be8319000-7f8be8322000 r-xp 00000000 08:03 655681 /usr/lib/x86_64-linux-gnu/qt4/plugins/iconengines/libqsvgicon.so
7f8be8322000-7f8be8521000 ---p 00009000 08:03 655681 /usr/lib/x86_64-linux-gnu/qt4/plugins/iconengines/libqsvgicon.so
7f8be8521000-7f8be8522000 r--p 00008000 08:03 655681 /usr/lib/x86_64-linux-gnu/qt4/plugins/iconengines/libqsvgicon.so
7f8be8522000-7f8be8523000 rw-p 00009000 08:03 655681 /usr/lib/x86_64-linux-gnu/qt4/plugins/iconengines/libqsvgicon.so
7f8be8523000-7f8be8584000 r-xp 00000000 08:03 401658 /usr/lib/x86_64-linux-gnu/libtiff.so.4.3.4
7f8be8584000-7f8be8784000 ---p 00061000 08:03 401658 /usr/lib/x86_64-linux-gnu/libtiff.so.4.3.4
7f8be8784000-7f8be8786000 r--p 00061000 08:03 401658 /usr/lib/x86_64-linux-gnu/libtiff.so.4.3.4
7f8be8786000-7f8be8787000 rw-p 00063000 08:03 401658 /usr/lib/x86_64-linux-gnu/libtiff.so.4.3.4
7f8be8787000-7f8be878e000 r-xp 00000000 08:03 657152 /usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqtiff.so
7f8be878e000-7f8be898d000 ---p 00007000 08:03 657152 /usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqtiff.so
7f8be898d000-7f8be898e000 r--p 00006000 08:03 657152 /usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqtiff.so
7f8be898e000-7f8be898f000 rw-p 00007000 08:03 657152 /usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqtiff.so
7f8be898f000-7f8be8994000 r-xp 00000000 08:03 657150 /usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqtga.so
7f8be8994000-7f8be8b93000 ---p 00005000 08:03 657150 /usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqtga.so
7f8be8b93000-7f8be8b94000 r--p 00004000 08:03 657150 /usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqtga.so
7f8be8b94000-7f8be8b95000 rw-p 00005000 08:03 657150 /usr/lib/x86_64-linux-gnu/qt4/plugins/imageformats/libqtga.soAborted (core dumped)
scheduler.py will not stop when given either Ctrl+C or a stop command using roslaunch
please commen here when new general git repo created, and I will clone it...
Songjie, After you get the world-warped image output to a ROS topic, it'd be nice to display this image in the background of the waypoint_planner GUI, so we can display everything relevant to the robot state in one place. Your CV_dev branch is a good place to test this out nondestructively
To prevent wall popping...
If we increase the deadband size (in the Hightech calibration tool) on the rotary joints on the robot, we can decrease the 'singing' effect of the servos, and prevent accidental detachment. I recommend increasing the two center pitch servos to .5 degrees or so, and the end segment pitches, to 1 degree or so, this will make those segments more tolerant of small miscalibrations and prevent detachment of the magnets.
Also Brian, Nate
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