roverrobotics / roverrobotics_ros2 Goto Github PK

1. Finish install script .sh for installing robots.
2. Add install script for ros2 humble install

Need to add urdf for pro/zero (Same footprint) for 2wd and 4wd

Hi,

We've ordered two Zero 3 units, so I'm trying to get familiar with them through simulation. I followed the guide and successfully set up a simulation of a 2WD rover equipped with LiDAR. To ensure the simulation was functioning correctly, I used simple cmd_vel commands to move the rover around.

The next step was use the commands:

1. ros2 launch roverrobotics_driver slam_launch.py use_sim_time:=true
2. ros2 launch roverrobotics_driver navigation_launch.py use_sim_time:=true map_file_name:=<default maze map path>

In the slam terminal i get the errors:
[async_slam_toolbox_node-2] [INFO] [1691593316.753919425] [slam_toolbox]: Message Filter dropping message: frame 'lidar_link' at time 73.701 for reason 'the timestamp on the message is earlier than all the data in the transform cache'

[async_slam_toolbox_node-2] [INFO] [1691593316.937824162] [slam_toolbox]: Message Filter dropping message: frame 'lidar_link' at time 73.800 for reason 'the timestamp on the message is earlier than all the data in the transform cache'

[async_slam_toolbox_node-2] [INFO] [1691593317.112864164] [slam_toolbox]: Message Filter dropping message: frame 'lidar_link' at time 73.902 for reason 'the timestamp on the message is earlier than all the data in the transform cache'

In the nav2 terminal i get the errors:
[localization_slam_toolbox_node-2] [INFO] [1691593321.386062763] [slam_toolbox]: Message Filter dropping message: frame 'lidar_link' at time 76.500 for reason 'the timestamp on the message is earlier than all the data in the transform cache'

[localization_slam_toolbox_node-2] [INFO] [1691593321.556707462] [slam_toolbox]: Message Filter dropping message: frame 'lidar_link' at time 76.602 for reason 'the timestamp on the message is earlier than all the data in the transform cache'

[controller_server-3] [INFO] [1691593321.556724753] [local_costmap.local_costmap]: Message Filter dropping message: frame 'lidar_link' at time 76.602 for reason 'the timestamp on the message is earlier than all the data in the transform cache'

Note: I run all commands through the same pc with ROS Humble.
Im not sure how to handle those errors, any ideas?

Thanks,
Tal

• Fix wheel radius and robot geometry in pro_protocol.hpp
• rplidar urdf needs to be rotated 180 degrees
• Disable default base_link -> odom tf in pro config

Create an accessory launch file that will launch the proper nodes for specific sensors (i.e rplidar, realsense, bno055, etc)

Hi,

Im using Zero 3 model with a NUC i7, running Ubuntu 22.04 and ROS2 Humble.
I followed the instructions to install all the necessary packages and it works pretty well. The only issue I'm having is when I run slam_launch.py; the robot starts acting up when I rotate it, just like in the video. I figured out that the trouble seems to be linked to odometry/filtered because when I turn it off, the robot stops acting weird. But turning off odometry/filtered isn't really a solution for me.

Best Regards

In process of improving documentation to be worded better in spots and include more examples.

Need to adjust the inertia values for the 2wd rover pro/zero with respect to castor wheels + body mass?

For some reason the SLAM map for the gazebo maze is not currently cross-compatible. It was made on a Miti. If your map is glitching during navigation you'll need to create a new map with the robot you are using.

Hi
Im using rover pro 4wd model with an OS: Ubuntu 22.04 and ROS 2 Humble. After successfully cloning this repository, I tried to check the data published on the odometry topic and battery status respectively, to my surprise the values reflected on both topics are 0, meaning the battery voltage is 0V and the odometry data for linear velocity is 0 m/s even though i manually inputted the value 0.3 on the /cmd_vel geometry.msgs/Twist topic. Also speaking of the /cmd_vel. If I increased my publishing rate to 5, the speed of the motor is speeding up instead of maintaining my inputted linear velocity.

Hi

I'm using the Pro Rover with an Nvidia Orin Nano Developer Kit, running Ubuntu 22.04 and ROS2 Humble. I followed the instructions provided in your GitHub repository to install the rover_install_scripts_ros2 and roverrobotics_ros2 (Humble branch). After running ros2 launch roverrobotics_driver pro_teleop.launch.py, I've noticed the following issues:

1. High Speed and Limited Movement:

• The rover moves too fast in forward and backward directions.
• Left/right movement does not work as expected.

2. Control Adjustments:

• I would like to adjust the speed and control acceleration and jerk limits to ensure smooth movement.

Could you please provide guidance or suggestions on how I can adjust the rover's speed and movement settings? I'm looking for ways to:

1. Reduce the speed.
2. Implement proper acceleration and jerk limits to make the control smoother.

Best,

1. Fix inertia values
2. Add simulator control
3. Simulate flipper joints