openspur / yp-spur Goto Github PK

MSVC failed to include unistd.h included from ypparam.h

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#42

This must be estimated time by:

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原因と思われる箇所
sh_bando@robobnd-l:~/lab/researches/programs/platform$ find ./open-spur/ -name ".h" | xargs grep -n 'long'

./open-spur/include/command.h:63:void message_return( struct ipcmd_t *ipcmd, long retpid, YPSpur_msg * res_msg );
./open-spur/include/ypparam.h:266: long msg_type;
./open-spur/include/ypparam.h:267: long pid;
./open-spur/include/ypparam.h:300:#define YPSPUR_MSG_SIZE (sizeof(YPSpur_msg) -sizeof(long))

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Decelerate by YP_PARAM_MAX_ACC_V only if exceeding YP_PARAM_MAX_VEL.

avoid using in absolute angle and odometry calculation

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It should read parameters without line break.

The (built in) emulation of system V message queue for Windows has a bug.
Last sizeof(long) bytes of the returned data from coordinator lost.
Socket version might have the same problem.

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like:

• lib/ypspur/lib*.so
• include/ypspur/ypspur.h

TODO

bug fixes

• Fix decelerate logic on over speed #87
• Stricten param err check #88
• Fix serial communication error handling #107

new features

• Receive error status of connected device #89
  • Update motor error ID #93
• Support inverted hall sensor signal #85
• Add encoder denominator parameter #86
  • Fix ENCODER_DENOMINATOR handling to make param units corresponding to hardware #104

T-frog/tf-2md3-firmware#14

I installed the software according to https://github.com/openspur/yp-spur/wiki so that I would like to use ypspur_ros in the indigo environment.
But it seems that ypspur-config.cmake will not be installed on release version.

I compiled ypspur-ros instaled yp-spur (commit ver. de084f3).

$catkin build ypspur_ros
Errors     << ypspur_ros:cmake /home/USER/hoge-project/catkin_ws/logs/ypspur_ros/build.cmake.005.log
CMake Error at /home/USER/hoge-project/catkin_ws/src/ypspur_ros/CMakeLists.txt:41 (find_package):
  By not providing "Findypspur.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "ypspur", but
  CMake did not find one.

  Could not find a package configuration file provided by "ypspur" with any
  of the following names:

    ypspurConfig.cmake
    ypspur-config.cmake

  Add the installation prefix of "ypspur" to CMAKE_PREFIX_PATH or set
  "ypspur_DIR" to a directory containing one of the above files.  If "ypspur"
  provides a separate development package or SDK, be sure it has been
  installed.

I tried build the latest yp-spur.
It requires cmake3, but we use cmake as 2.8.6 in our environment.
Could you change CMakeLists.txt of yp-spur so that it can be executed with cmake2 ?

thanks.

Build on-premise CI server with T-frog motor controller connected.
https://developer.github.com/v3/guides/building-a-ci-server/

• Adding new features.
• Bug fixes.

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https://github.com/openspur/yp-spur/blob/master/doc/files/libypspur_cheatsheet.pdf
上記pdfに定義されているSpur_line_GL(double x, double y, double th)を使用したところ、Y座標の向きが正負逆になっているようです。
例えば、

Spur_set_pos_GL(0, 0, 0);
Spur_line_GL(0.3, 0.3, 0);
...

としたところ、想定される経由点は添付画像の◎部分ですが、実際のロボットが経由する点は図中の✕部分となってしまいました。
私の理解では経由点は◎と想定しているのですが、この理解で正しいでしょうか。
よろしくお願い致します。

KM

http://build.ros.org/view/Mdev/job/Mdev__yp-spur__ubuntu_bionic_amd64/17/console
http://build.ros.org/view/Mdev/job/Mdev__yp-spur__ubuntu_bionic_amd64/18/console

Looks caused by the build farm config for build_tool_depend cmake.
Another cmake package is also failing. http://build.ros.org/view/Mdev/job/Mdev__rc_genicam_api__ubuntu_bionic_amd64/17/console

with modern C++

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for openspur/ypspur_ros#34

Currently position control is on PC side.

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T-frog/tf-2md3-firmware#71

Build-time definitions are not necessary for library header.

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• OpenSpurからcloneした最新版のSSM(ver1.0.6)を先にPCにインストール
• その後最新版のYP-Spur（ver1.14.0，最終コミット6/17）をインストール
• ssm-coordinatorを起動後ypspur-coordinatorを起動しても、「With SSM」（あるいは「Without SSM」）の表示が出ず、SSMにもデータが流れない

(Transferred from readmine ticket. Originally by A. MATSUMOTO.)

• This requires device simulator (kernel module?) for complete test.

• Fix Spur_freeze command #117

Add command to specify control mode (velocity control, free, and openfree) of desired joint.

ypspur-coordinator起動時に流れる英文メッセージ、よくみたら英語のスペルミスがたくさん含まれています。
次回のアップデートの際には、コンソールに出力する文字（通常は画面に出ないようなエラーメッセージも）を確認してください。

一部抜粋：

• undifined -> undefined
• infometion -> information
• analyser -> analyzer

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パラメータファイルでトルク係数(MOTOR_TC)が与えられなかったときに、回転数係数(MOTOR_VC)から自動的に算出して与える

(MOTOR_TC)=60/(2*PI*(MOTOR_VC))

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Skipping a deployment with the releases provider because this is not a tagged commit

branches:
  only:

should have version tag?

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In these environment (Ubuntu16.04, kernel version 4.8), when running ypspur-coordinator, the follows error is occured.

$ypspur-coordinator -d
/dev/serial/by-id/usb-T-frog_project_T-frog_Driver-if00 -p beego.param

++++++++++++++++++++++++++++++++++++++++++++++++++
YamabicoProject-Spur
Ver. 1.14.0
++++++++++++++++++++++++++++++++++++++++++++++++++
with SSM

SSM is not available.
Device Information
Port : /dev/serial/by-id/usb-T-frog_project_T-frog_Driver-if00
Warn: Baudrate setting is not supported on this device.
Applying parameters.
YP-Spur coordinator started.
Warn: Illegal packet 'SS038400' received.
Warn: Illegal packet '04T' received.
Warn: Illegal packet '' received.
Warn: Illegal packet 'SS038400' received.
Warn: Illegal packet '04T' received.
Warn: Illegal packet '' received.
Warn: Illegal packet 'AP@@@@@i' received.
:
:
:

• Solution
  Please try 1 or 2.

1. downgrade to kernel version 4.6

2. correct the source code 'serial.c'. please rewrite newtio.c_oflag from 0 to 1

Decrease TORQUE_UNIT must be Decrease TORQUE_FINENESS.
https://github.com/openspur/yp-spur/blob/v1.15.0-rc4/src/param.c#L1288

Is it ok if parameter file contains non-ascii characters?

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