Mecanum Wheel Drive ROS Platform
A Mecanum Wheel Version of Linorobot. The Kinematics of this base is based on this paper "Kinematic Model of a Four Mecanum Wheeled Mobile Robot" http://research.ijcaonline.org/volume113/number3/pxc3901586.pdf
Linorobot is an Open Source robotic project that aims to provide students, developers, and researchers a low-cost platform in creating new exciting applications on top of ROS.
Hi Juan,
Thank you very much for the great open source project linorobot. I've been trying to mimic what you have done but when I run roslaunch bringup.launch (I tried with ~/catkin_ws$ roslaunch linorobot_mecanum bringup.launch, but got this error: [bringup.launch] is neither a launch file in package [linorobot_mecanum] nor is [linorobot_mecanum] a launch file name The traceback for the exception was written to the log file), I got these errors:
~/catkin_ws/src/linorobot_mecanum/launch$ roslaunch bringup.launch
... logging to /home/nvidia/.ros/log/7a1ae33e-3c10-11e7-87dc-00044b8c489e/roslaunch-tegra-ubuntu-6188.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://tegra-ubuntu.local:35115/
SUMMARY
========
PARAMETERS
* /arduino_serial_node/baud: 57600
* /arduino_serial_node/port: /dev/linobase
* /imu_filter_madgwick/fixed_frame: odom
* /raw_imu_bridge/imu/accelerometer_bias/x: -0.131470156
* /raw_imu_bridge/imu/accelerometer_bias/y: -0.295752343
* /raw_imu_bridge/imu/accelerometer_bias/z: -0.599761407
* /raw_imu_bridge/imu/gyroscope_bias/x: -0.00843138155622
* /raw_imu_bridge/imu/gyroscope_bias/y: 0.0203608076556
* /raw_imu_bridge/imu/gyroscope_bias/z: 0.00723981837085
* /raw_imu_bridge/imu/perform_calibration: False
* /rosdistro: kinetic
* /rosversion: 1.12.7
NODES
/
arduino_serial_node (rosserial_python/serial_node.py)
imu_filter_madgwick (imu_filter_madgwick/imu_filter_node)
lino_base_node (linorobot_mecanum/lino_base_node_mecanum)
raw_imu_bridge (ros_arduino_imu/raw_imu_bridge_node)
auto-starting new master
process[master]: started with pid [6199]
ROS_MASTER_URI=http://tegra-ubuntu.local:11311
setting /run_id to 7a1ae33e-3c10-11e7-87dc-00044b8c489e
process[rosout-1]: started with pid [6212]
started core service [/rosout]
process[arduino_serial_node-2]: started with pid [6223]
ERROR: cannot launch node of type [ros_arduino_imu/raw_imu_bridge_node]: ros_arduino_imu
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/opt/ros/kinetic/share
process[imu_filter_madgwick-4]: started with pid [6230]
ERROR: cannot launch node of type [linorobot_mecanum/lino_base_node_mecanum]: linorobot_mecanum
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/opt/ros/kinetic/share
[ INFO] [1495142713.260331438]: Starting ImuFilter
[ WARN] [1495142713.277456104]: Deprecation Warning: The parameter world_frame was not set, default is 'nwu'.
[ WARN] [1495142713.277539498]: Starting with ROS Lunar, world_frame will default to 'enu'!
[ INFO] [1495142713.277589420]: Using dt computed from message headers
[ INFO] [1495142713.305132570]: Imu filter gain set to 0.100000
[ INFO] [1495142713.305208669]: Gyro drift bias set to 0.000000
[ INFO] [1495142713.305255038]: Magnetometer bias values: 0.000000 0.000000 0.000000
[INFO] [1495142713.715882]: ROS Serial Python Node
[INFO] [1495142713.727317]: Connecting to /dev/linobase at 57600 baud
[ERROR] [1495142715.901228]: Creation of publisher failed: lino_msgs
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/opt/ros/kinetic/share
[ERROR] [1495142715.903918]: Creation of publisher failed: ros_arduino_msgs
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/opt/ros/kinetic/share
[ERROR] [1495142715.906683]: Creation of subscriber failed: lino_msgs
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/opt/ros/kinetic/share
[INFO] [1495142715.924969]: Note: subscribe buffer size is 1024 bytes
[INFO] [1495142715.926136]: Setup subscriber on cmd_vel [geometry_msgs/Twist]
[ERROR] [1495142715.928718]: Tried to publish before configured, topic id 105
[ERROR] [1495142716.011537]: Tried to publish before configured, topic id 105
[ERROR] [1495142716.111309]: Tried to publish before configured, topic id 105
[ERROR] [1495142716.211503]: Tried to publish before configured, topic id 105
[ERROR] [1495142716.311470]: Tried to publish before configured, topic id 105
The setup I have include:
It will be great if you can point me to some directions. Thank you very much.
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
An Open Source Machine Learning Framework for Everyone
Django
The Web framework for perfectionists with deadlines.
Laravel
A PHP framework for web artisans
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
Some thing interesting about web. New door for the world.
A server is a program made to process requests and deliver data to clients.
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
Some thing interesting about visualization, use data art
Some thing interesting about game, make everyone happy.
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
Microsoft
Open source projects and samples from Microsoft.
Google
Google ❤️ Open Source for everyone.
Alibaba
Alibaba Open Source for everyone
D3
Data-Driven Documents codes.
Tencent
China tencent open source team.