beginner question

[DuckiDuck]

HELLO EVERYONE,
I have a beginner's question, I got stuck at the stage where the command runs: "hoverboard_velocity_controller/cmd_vel" and I don't get any kind of error (only a noise in the motors and they are under tension) [ INFO] [1650976371.213830149]: Dynamic Reconfigure: DynamicParams: Odometry parameters: left wheel radius multiplier: 1 right wheel radius multiplier: 1 wheel separation multiplier: 1 Publication parameters: Publish executed velocity command: disabled Publication rate: 50 Publish frame odom on tf: disabled [INFO] [1650976371.216749]: Controller Spawner: Loaded controllers: hoverboard_joint_publisher, hoverboard_velocity_controller. The same thing happens to me with two mainboards that loaded this firmware: https://github.com/benamaro/hoverboard-firmware-hack-FOC-alex-makarov.

the /hoverboard_velocity_controller/odom its trad the data from wheels ok , /connected its true, all topice its ok nu when tun rqt or teleop keyboard nothing happens.

configuration is: jetson nano with ros melodic, connection is on ttyTHS1

what could be the cause?

Thank you for this wonderful project and sorry for the grammar mistakes (google translate)

[alex-makarov]

@DuckiDuck it looks like the cmd_vel topic never reaches the driver, can you share your rqt graph screenshot? Can you make sure that you are actually sending cmd_vel? (rostopic echo may help)

[DuckiDuck]

sure this is the rqt graph
thank you in advance!
and sorry for the delay

[DuckiDuck]

...and this its the odom

[DuckiDuck]

and I also have this:

roslaunch hoverboard_driver hoverboard.launch
... logging to /home/hov/.ros/log/47d041ae-3483-11ee-ab48-024200f0c1a7/roslaunch-hov-12021.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.

started roslaunch server http://hov:34599/

SUMMARY

PARAMETERS

• /hoverboard_joint_publisher/left_wheel: left_wheel
• /hoverboard_joint_publisher/publish_rate: 50
• /hoverboard_joint_publisher/right_wheel: right_wheel
• /hoverboard_joint_publisher/type: joint_state_contr...
• /hoverboard_velocity_controller/allow_multiple_cmd_vel_publishers: True
• /hoverboard_velocity_controller/angular/z/has_acceleration_limits: True
• /hoverboard_velocity_controller/angular/z/has_jerk_limits: True
• /hoverboard_velocity_controller/angular/z/has_velocity_limits: True
• /hoverboard_velocity_controller/angular/z/max_acceleration: 3.14
• /hoverboard_velocity_controller/angular/z/max_jerk: 3.14
• /hoverboard_velocity_controller/angular/z/max_velocity: 6.28
• /hoverboard_velocity_controller/base_frame_id: base_footprint
• /hoverboard_velocity_controller/cmd_vel_timeout: 0.5
• /hoverboard_velocity_controller/enable_odom_tf: False
• /hoverboard_velocity_controller/left_wheel: left_wheel
• /hoverboard_velocity_controller/linear/x/has_acceleration_limits: True
• /hoverboard_velocity_controller/linear/x/has_jerk_limits: False
• /hoverboard_velocity_controller/linear/x/has_velocity_limits: True
• /hoverboard_velocity_controller/linear/x/max_acceleration: 0.8
• /hoverboard_velocity_controller/linear/x/max_jerk: 0.0
• /hoverboard_velocity_controller/linear/x/max_velocity: 1.0
• /hoverboard_velocity_controller/odom_frame_id: /raw_odom
• /hoverboard_velocity_controller/pose_covariance_diagonal: [0.001, 0.001, 10...
• /hoverboard_velocity_controller/publish_rate: 50.0
• /hoverboard_velocity_controller/right_wheel: right_wheel
• /hoverboard_velocity_controller/twist_covariance_diagonal: [0.001, 0.001, 10...
• /hoverboard_velocity_controller/type: diff_drive_contro...
• /hoverboard_velocity_controller/wheel_radius: 0.0825
• /hoverboard_velocity_controller/wheel_radius_multiplier: 1.0
• /hoverboard_velocity_controller/wheel_separation: 0.32
• /hoverboard_velocity_controller/wheel_separation_multiplier: 1.0
• /robaka/direction: 1
• /robaka/hardware_interface/joints: ['left_wheel', 'r...
• /robaka/hardware_interface/loop_hz: 50
• /rosdistro: melodic
• /rosversion: 1.14.13

NODES
/
controller_spawner (controller_manager/spawner)
hoverboard_driver (hoverboard_driver/hoverboard_driver)

auto-starting new master
process[master]: started with pid [12031]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 47d041ae-3483-11ee-ab48-024200f0c1a7
process[rosout-1]: started with pid [12044]
started core service [/rosout]
process[hoverboard_driver-2]: started with pid [12047]
process[controller_spawner-3]: started with pid [12053]
[ERROR] [1691344897.074748961]: Missing parameter '//port'.
[ WARN] [1691344897.078647509]: Port is not set in config, using default /dev/ttyTHS1
[ INFO] [1691344897.078747460]: Initialize PID
[ INFO] [1691344897.078832983]: Initializing dynamic reconfigure in namespace /pid/left
[ INFO] [1691344897.139542879]: Update PID Gains: F=1, P=0, I=0, D=0.01, out_min=-12.1212, out_max=12.1212
[ INFO] [1691344897.160003094]: Initialized dynamic reconfigure
[ INFO] [1691344897.160176432]: Initialized PID: F=1, P=0, I=0, D=0.01, out_min=-12.1212, out_max=12.1212
[ INFO] [1691344897.160266956]: Update PID output limits: lower=12.1212, upper=-12.1212
[ INFO] [1691344897.160321905]: Initialize PID
[ INFO] [1691344897.160380032]: Initializing dynamic reconfigure in namespace /pid/right
[ INFO] [1691344897.220920236]: Update PID Gains: F=1, P=0, I=0, D=0.01, out_min=-12.1212, out_max=12.1212
[ INFO] [1691344897.239684361]: Initialized dynamic reconfigure
[ INFO] [1691344897.239839001]: Initialized PID: F=1, P=0, I=0, D=0.01, out_min=-12.1212, out_max=12.1212
[ INFO] [1691344897.239926399]: Update PID output limits: lower=12.1212, upper=-12.1212
[INFO] [1691344897.957386]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1691344897.964863]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1691344897.973852]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1691344897.982115]: Loading controller: hoverboard_joint_publisher
[INFO] [1691344898.010698]: Loading controller: hoverboard_velocity_controller
[ INFO] [1691344898.036549061]: Controller state will be published at 50Hz.
[ INFO] [1691344898.040926685]: Wheel separation will be multiplied by 1.
[ INFO] [1691344898.043912134]: Left wheel radius will be multiplied by 1.
[ INFO] [1691344898.044058232]: Right wheel radius will be multiplied by 1.
[ INFO] [1691344898.045517231]: Velocity rolling window size of 10.
[ INFO] [1691344898.048852430]: Velocity commands will be considered old if they are older than 0.5s.
[ INFO] [1691344898.053542927]: Allow mutiple cmd_vel publishers is enabled
[ INFO] [1691344898.057154540]: Base frame_id set to base_footprint
[ INFO] [1691344898.060479686]: Odometry frame_id set to /raw_odom
[ INFO] [1691344898.063299036]: Publishing to tf is disabled
[ INFO] [1691344898.111612227]: Odometry params : wheel separation 0.32, left wheel radius 0.0825, right wheel radius 0.0825
[ INFO] [1691344898.119186868]: Adding left wheel with joint name: left_wheel and right wheel with joint name: right_wheel
[ INFO] [1691344898.169299692]: Dynamic Reconfigure:
DynamicParams:
Odometry parameters:
left wheel radius multiplier: 1
right wheel radius multiplier: 1
wheel separation multiplier: 1
Publication parameters:
Publish executed velocity command: disabled
Publication rate: 50
Publish frame odom on tf: disabled
[INFO] [1691344898.182238]: Controller Spawner: Loaded controllers: hoverboard_joint_publisher, hoverboard_velocity_controller
[INFO] [1691344898.200807]: Started controllers: hoverboard_joint_publisher, hoverboard_velocity_controller

and it stays that way without any error.

[Dober2786]

Have you tryed any other port? ttyTHS1 is the serial connection on the gpio, right?
I think that this port isn´t activated by defauld. I didnt got it working with that port and always use an usb to uart adapter.