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rbonghi / roboteq_control

⚙️ Driver for Roboteq devices using ros_control

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SBL2360 driver

AlexisTM opened this issue · comments

commented

Hey, what is the breaking part between the different motor driver versions? (So I can port the SBL2360)

commented

Hi @AlexisTM

I am also using SBL2360, but i couldn't get this work with it. Have you successfully control SBL2360 using this roboteq_control?

Best,
Samuel

commented

Dear Samuel, I actually went for another library: https://github.com/umdlife/roboteq forked from https://github.com/g/roboteq

commented

Hi All,

I'm looking your issue. In these days I'm working again with my robot Panther and also with the roboteq control.

Which ROS are you working?

commented

Hi @AlexisTM

Thanks for the sharing, I have questions on below:

Ticks = N_Poles * Hall_Sensor_Number = 8*3 = 24

Ticks = counts/ revolute?
Hall_Sensor_Number, how shall we count?
N_Poles = Number of poles pairs?

Hi @rbonghi
I am currently working on ROS 1 - Kinetic. Hope can get some guidance from you on controlling roboteq control via ROS.

Best,
Samuel

commented

Hi all,

I didn't started to fix the issues of my package, but this morning Roboteq release a ROS package

https://www.roboteq.com/index.php/support/setup-troubleshooting-faq/113-support/supportfaq/484-q-how-to-install-and-use-roboteq-s-ros-package

https://github.com/Roboteq-Inc/ROS-Driver

We should check if this repo cover well all our Roboteq controllers

commented

I came to say the same as @rbonghi

commented

The https://github.com/Roboteq-Inc/ROS-Driver is a nice driver, but I was looking does no implement any type of ros_control feature.
The https://github.com/Roboteq-Inc/ROS-Driver/blob/master/roboteq_motor_controller_driver/src/diff_odom.cpp implement only an hard coded differiantial drive control.

I think at this time it's better to fix all bugs and make improvements on my package. I will start to work this week 👍

PS: @griz1112 I add in this loop

commented
commented

I made significant updates in these days.
Now this code does not have warning from dynamic_reconfigure::Server and I'm fixing #4
I add a new example for a differential drive and rewrite the Readme.
If there are new issues or something not clear keep me posted.

PS: I think I will made a new version of this package for ROS2 soon :-)

commented

Thanks for the sharing, I have questions on below:

Ticks = N_Poles * Hall_Sensor_Number = 8*3 = 24

Ticks = counts/ revolute?
Hall_Sensor_Number, how shall we count?
N_Poles = Number of poles pairs?

Where did you find this line?
If is mine, I didn't found it! 😅

Hi @rbonghi
I am currently working on ROS 1 - Kinetic. Hope can get some guidance from you on controlling roboteq control via ROS.

I made a brand new example to use this package.
differential_drive.launch
I didn't test on Kinetic this test, but I think works fine (It's a simple launcher version of my robot)

Anyway If you have issues or something does not work open a new issue 👍

commented

@rbonghi The question was related to: https://github.com/umdlife/roboteq

Ticks = counts/revolution
N_poles = number of poles of the motor (see datasheet)
Hall_Sensor_Number = Number of all sensors, generally 3 (see datasheet)

Note that I do not maintain that library anymore as I am not working at that company anymore.