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Diffbot run 2
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212 lines (194 loc) · 11.1 KB
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rod@raspi:~$ roslaunch diffbot_bringup bringup_with_laser.launch
... logging to /home/rod/.ros/log/a310aa38-7ecb-11eb-a649-29bca9b2d032/roslaunch-raspi-1847.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
WARN: unrecognized 'param' tag in <include> tag
started roslaunch server http://raspi:34803/
SUMMARY
========
PARAMETERS
* /diffbot/hardware_interface/joints: ['front_left_whee...
* /diffbot/joint_state_controller/extra_joints: [{'name': 'rear_c...
* /diffbot/joint_state_controller/publish_rate: 50
* /diffbot/joint_state_controller/type: joint_state_contr...
* /diffbot/mobile_base_controller/angular/z/has_acceleration_limits: True
* /diffbot/mobile_base_controller/angular/z/has_velocity_limits: True
* /diffbot/mobile_base_controller/angular/z/max_acceleration: 6.0
* /diffbot/mobile_base_controller/angular/z/max_velocity: 2.0
* /diffbot/mobile_base_controller/base_frame_id: base_footprint
* /diffbot/mobile_base_controller/left_wheel: front_left_wheel_...
* /diffbot/mobile_base_controller/linear/x/has_acceleration_limits: True
* /diffbot/mobile_base_controller/linear/x/has_velocity_limits: True
* /diffbot/mobile_base_controller/linear/x/max_acceleration: 0.6
* /diffbot/mobile_base_controller/linear/x/max_velocity: 0.2
* /diffbot/mobile_base_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
* /diffbot/mobile_base_controller/publish_rate: 50
* /diffbot/mobile_base_controller/right_wheel: front_right_wheel...
* /diffbot/mobile_base_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
* /diffbot/mobile_base_controller/type: diff_drive_contro...
* /diffbot/mobile_base_controller/wheel_radius: 0.0325
* /diffbot/mobile_base_controller/wheel_separation: 0.15
* /diffbot/robot_description: <?xml version="1....
* /diffbot/ydlidar_lidar_publisher/abnormal_check_count: 4
* /diffbot/ydlidar_lidar_publisher/angle_max: 180.0
* /diffbot/ydlidar_lidar_publisher/angle_min: -180.0
* /diffbot/ydlidar_lidar_publisher/auto_reconnect: True
* /diffbot/ydlidar_lidar_publisher/baudrate: 230400
* /diffbot/ydlidar_lidar_publisher/device_type: 0
* /diffbot/ydlidar_lidar_publisher/frame_id: laser_frame
* /diffbot/ydlidar_lidar_publisher/frequency: 10.0
* /diffbot/ydlidar_lidar_publisher/ignore_array:
* /diffbot/ydlidar_lidar_publisher/intensity: False
* /diffbot/ydlidar_lidar_publisher/invalid_range_is_inf: False
* /diffbot/ydlidar_lidar_publisher/inverted: True
* /diffbot/ydlidar_lidar_publisher/isSingleChannel: False
* /diffbot/ydlidar_lidar_publisher/lidar_type: 1
* /diffbot/ydlidar_lidar_publisher/port: /dev/ydlidar
* /diffbot/ydlidar_lidar_publisher/range_max: 16.0
* /diffbot/ydlidar_lidar_publisher/range_min: 0.1
* /diffbot/ydlidar_lidar_publisher/resolution_fixed: True
* /diffbot/ydlidar_lidar_publisher/reversion: True
* /diffbot/ydlidar_lidar_publisher/sample_rate: 9
* /diffbot/ydlidar_lidar_publisher/support_motor_dtr: False
* /rosdistro: noetic
* /rosversion: 1.15.9
NODES
/diffbot/
base_link_to_laser4 (tf/static_transform_publisher)
controller_spawner (controller_manager/spawner)
diffbot_base (diffbot_base/diffbot_base)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rosserial_teensy (rosserial_python/serial_node.py)
ydlidar_lidar_publisher (ydlidar_ros_driver/ydlidar_ros_driver_node)
ROS_MASTER_URI=http://192.168.1.179:11311/
process[diffbot/diffbot_base-1]: started with pid [1863]
process[diffbot/controller_spawner-2]: started with pid [1864]
process[diffbot/rosserial_teensy-3]: started with pid [1865]
process[diffbot/robot_state_publisher-4]: started with pid [1866]
process[diffbot/ydlidar_lidar_publisher-5]: started with pid [1869]
process[diffbot/base_link_to_laser4-6]: started with pid [1870]
[ INFO] [1615070999.381819602]: YDLIDAR ROS Driver Version: 1.0.0
[ INFO] [1615070999.576078273]: Waiting for model URDF on the ROS param server at location: /diffbot/diffbot/robot_description
YDLidar SDK initializing
YDLidar SDK has been initialized
[YDLIDAR]:SDK Version: 1.0.3
[CYdLidar] Error, cannot bind to the specified serial port[/dev/ydlidar] and baudrate[230400]
[CYdLidar::initialize] Error initializing YDLIDAR check Comms.
[ERROR] [1615070999.735053792]: Unknown error
[ INFO] [1615070999.788398856]: Initializing DiffBot Hardware Interface ...
[ INFO] [1615070999.789765866]: Number of joints: 2
[ INFO] [1615070999.791095327]: pid namespace: pid/left_motor
[ INFO] [1615070999.792300345]: Initialize PID
[ INFO] [1615070999.793489015]: Initializing dynamic reconfigure in namespace /diffbot/pid/left_motor
[ INFO] [1615070999.887357827]: Update PID Gains: F=0.8, P=0.35, I=0.5, D=0.01, out_min=-6.15385, out_max=6.15385
[ INFO] [1615070999.914458657]: Initialized dynamic reconfigure
[ INFO] [1615070999.914861756]: Initialized PID: F=0.8, P=0.35, I=0.5, D=0.01, out_min=-6.15385, out_max=6.15385
[ INFO] [1615070999.915077534]: Update PID output limits: lower=6.15385, upper=-6.15385
[ INFO] [1615070999.915260114]: pid namespace: pid/right_motor
[ INFO] [1615070999.915427827]: Initialize PID
[ INFO] [1615070999.915547880]: Initializing dynamic reconfigure in namespace /diffbot/pid/right_motor
[ INFO] [1615070999.995873276]: Update PID Gains: F=0.8, P=0.35, I=0.5, D=0.01, out_min=-6.15385, out_max=6.15385
[ INFO] [1615071000.023189355]: Initialized dynamic reconfigure
[ INFO] [1615071000.024331051]: Initialized PID: F=0.8, P=0.35, I=0.5, D=0.01, out_min=-6.15385, out_max=6.15385
[ INFO] [1615071000.025448900]: Update PID output limits: lower=6.15385, upper=-6.15385
[ INFO] [1615071000.027082346]: ... Done Initializing DiffBot Hardware Interface
[ INFO] [1615071000.241915743]: [YDLIDAR INFO] Now YDLIDAR is stopping .......
[ INFO] [1615071000.481212868]:
Read ticks angle dangle velocity
j0: -1318166528-1.5281e+07-1.5281e+07-1.77479e+12
j1: 65535 759.721 759.721 8.8237e+07
[ INFO] [1615071000.481873572]:
Write velocity p_error i_error d_error pid out percent
j0: 0 1.77479e+121.5281e+072.06132e+172.06194e+153.35065e+16
j1: 0 -8.8237e+07-759.721 -1.02482e+13-1.02513e+11-1.66583e+12
[ INFO] [1615071000.581729647]:
Read ticks angle dangle velocity
j0: -1318166528-1.5281e+070 0
j1: 65535 759.721 0 0
[ INFO] [1615071000.583066977]:
Write velocity p_error i_error d_error pid out percent
j0: 0 0 0 0 0 0
j1: 0 0 0 0 0 0
[ INFO] [1615071000.681295196]:
Read ticks angle dangle velocity
j0: -1318166528-1.5281e+070 0
j1: 65535 759.721 0 0
[ INFO] [1615071000.681684631]:
Write velocity p_error i_error d_error pid out percent
j0: 0 0 0 0 0 0
j1: 0 0 0 0 0 0
[ INFO] [1615071000.781320909]:
Read ticks angle dangle velocity
j0: -1318166528-1.5281e+070 0
j1: 65535 759.721 0 0
[ INFO] [1615071000.781731062]:
Write velocity p_error i_error d_error pid out percent
j0: 0 0 0 0 0 0
j1: 0 0 0 0 0 0
[ INFO] [1615071000.881284818]:
Read ticks angle dangle velocity
j0: -1318166528-1.5281e+070 0
j1: 65535 759.721 0 0
[ INFO] [1615071000.882475339]:
Write velocity p_error i_error d_error pid out percent
j0: 0 0 0 0 0 0
j1: 0 0 0 0 0 0
[diffbot/ydlidar_lidar_publisher-5] process has finished cleanly
log file: /home/rod/.ros/log/a310aa38-7ecb-11eb-a649-29bca9b2d032/diffbot-ydlidar_lidar_publisher-5*.log
[ INFO] [1615071000.981251226]:
Read ticks angle dangle velocity
j0: -1318166528-1.5281e+070 0
j1: 65535 759.721 0 0
[ INFO] [1615071000.981611220]:
Write velocity p_error i_error d_error pid out percent
j0: 0 0 0 0 0 0
j1: 0 0 0 0 0 0
[INFO] [1615071001.044033]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1615071001.062866]: ROS Serial Python Node
[INFO] [1615071001.063738]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1615071001.078966]: Controller Spawner: Waiting for service controller_manager/unload_controller
[ INFO] [1615071001.081211364]:
Read ticks angle dangle velocity
j0: -1318166528-1.5281e+070 0
j1: 65535 759.721 0 0
[ INFO] [1615071001.081499797]:
Write velocity p_error i_error d_error pid out percent
j0: 0 0 0 0 0 0
j1: 0 0 0 0 0 0
[ INFO] [1615071030.981281141]:
Read ticks angle dangle velocity
j0: -9794 -113.538 -0.498481 -4.98475
j1: 9434 109.365 0.475296 4.7529
[ INFO] [1615071030.981881619]:
Write velocity p_error i_error d_error pid out percent
j0: 0 4.98475 -1.52809e+07-0.315532 -1.75849 -28.5755
j1: 0 -4.7529 650.356 0.300856 1.83949 29.8917
[ INFO] [1615071031.081215739]:
Read ticks angle dangle velocity
j0: -9837 -114.036 -0.498481 -4.98619
j1: 9474 109.828 0.463704 4.63832
[ INFO] [1615071031.081817514]:
Write velocity p_error i_error d_error pid out percent
j0: 0 4.98619 -1.52809e+070.0144139 -1.75469 -28.5137
j1: 0 -4.63832 649.892 1.14616 1.88805 30.6808
^C[diffbot/base_link_to_laser4-6] killing on exit
[diffbot/robot_state_publisher-4] killing on exit
[diffbot/rosserial_teensy-3] killing on exit
[ INFO] [1615071031.181258289]:
Read ticks angle dangle velocity
j0: -9880 -114.535 -0.498481 -4.98316
j1: 9514 110.292 0.463704 4.6355
[ INFO] [1615071031.182331322]:
Write velocity p_error i_error d_error pid out percent
j0: 0 4.98316 -1.52809e+07-0.0303199-1.7562 -28.5382
j1: 0 -4.6355 649.429 0.0282045 1.87786 30.5152
[diffbot/controller_spawner-2] killing on exit
[diffbot/diffbot_base-1] killing on exit
[INFO] [1615071031.190077]: Shutting down spawner. Stopping and unloading controllers...
[INFO] [1615071031.199265]: Stopping all controllers...
[WARN] [1615071031.494645]: Controller Spawner error while taking down controllers: unable to connect to service: [Errno 104] Connection reset by peer
[INFO] [1615071031.798263]: Sending tx stop request
shutting down processing monitor...
... shutting down processing monitor complete
done