REGARDING TELEOP IN REAL ROBOT

[randy0011x]

Hello sir, I have been following your videos for my project sequentially. I have a small snag. In simulation, the ros2_control teleop works perfectly and both gazebo and rviz responds accordingly, but in the real robot, "THE TELEOP WORKS PERFECTLY IN REAL ROBOT BUT THE RVIZ RECEIVES WRONG TF, I.E IF I PRESS 'I', THE REAL ROBOT MOVES FORWARD BUT IN THE RVIZ, IT ROTATES COUNTER CLOCKWISE, SIMILARLY IF I PRESS 'J', THE REAL ROBOT ROTATES BUT IN THE RVIZ. " I have even cloned your repository in a new workspace for verification but the rviz still dosen't respond properly to my teleop command. I have cross verified my TF in robot_core.xacro, ros2_control.xacro, and my_controllers.yaml code.I kindly request you to share your insights in this regard.

Thanks in advance

[Buzzology]

Hey @randy0011x , just double check your encoders/odom are correct. If you've got the wires or pins around the wrong way you'll see that. I have these notes from one of Josh's good videos on it:

- List connected usb devices: `lsusb` or `ls /dev/ttyUSB*`
  - `QinHeng Electronics HL-340 USB-Serial adapter` is arduino  
- Use miniterm to send messages via serial to arduino:
  - Start miniterm: `miniterm -e /dev/ttyUSB0 57600`
    - Could be this if you're using a newer version: `pyserial-miniterm -e /dev/ttyUSB0 57600`
  - See current encoder count: `e`
  - Start motor full speed: `o 255 255`
  - Start motor half speed: `o 127 127` 
  - Reset encoder count: `r`   

I did a quick post when I hit the same thing: https://whatibroke.com/2022/12/29/wheel-going-in-the-wrong-direction-rviz2-and-foxglove/

[randy0011x]

Thank you for your response, I will check it out

…

On Tue, 28 Mar 2023, 2:33 pm Chris Owens, ***@***.***> wrote: Hey @randy0011x <https://github.com/randy0011x> , just double check your encoders/odom are correct. If you've got the wires or pins around the wrong way you'll see that. I have these notes from one of Josh's good videos on it: - List connected usb devices: `lsusb` or `ls /dev/ttyUSB*` - `QinHeng Electronics HL-340 USB-Serial adapter` is arduino - Use miniterm to send messages via serial to arduino: - Start miniterm: `miniterm -e /dev/ttyUSB0 57600` - This could be this if you're using a newer version: `pyserial-miniterm -e /dev/ttyUSB0 57600` - See current encoder count: `e` - Start motor full speed: `o 255 255` - Start motor half speed: `o 127 127` - Reset encoder count: `r` I did a quick post when I hit the same thing: https://whatibroke.com/2022/12/29/wheel-going-in-the-wrong-direction-rviz2-and-foxglove/ — Reply to this email directly, view it on GitHub <#3 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AQMBGX56I5C22RYU43VNVGLW6KSNTANCNFSM6AAAAAAWJ5WGYA> . You are receiving this because you were mentioned.Message ID: ***@***.***>

[randy0011x]

Good day sir, thankyou very much for your assistance, my rviz is responding accordingly to the teleop. I have another question regarding mapping using SLAM toolbox online async. As I try to generate map in rviz, the robot keeps jumping around and hence the area size increases which in result generates noisy map. I have subscribed to map topic in fixed frame and because of this behaviour, it generates noisy map. I kindly request you to guide me in this regard. Thank you On Tue, 28 Mar 2023, 2:41 pm Ramanarayanan Balasubramanian, < ***@***.***> wrote:

…

Thank you for your response, I will check it out On Tue, 28 Mar 2023, 2:33 pm Chris Owens, ***@***.***> wrote: > Hey @randy0011x <https://github.com/randy0011x> , just double check your > encoders/odom are correct. If you've got the wires or pins around the wrong > way you'll see that. I have these notes from one of Josh's good videos on > it: > > - List connected usb devices: `lsusb` or `ls /dev/ttyUSB*` > - `QinHeng Electronics HL-340 USB-Serial adapter` is arduino > - Use miniterm to send messages via serial to arduino: > - Start miniterm: `miniterm -e /dev/ttyUSB0 57600` > - This could be this if you're using a newer version: `pyserial-miniterm -e /dev/ttyUSB0 57600` > - See current encoder count: `e` > - Start motor full speed: `o 255 255` > - Start motor half speed: `o 127 127` > - Reset encoder count: `r` > > I did a quick post when I hit the same thing: > https://whatibroke.com/2022/12/29/wheel-going-in-the-wrong-direction-rviz2-and-foxglove/ > > — > Reply to this email directly, view it on GitHub > <#3 (comment)>, > or unsubscribe > <https://github.com/notifications/unsubscribe-auth/AQMBGX56I5C22RYU43VNVGLW6KSNTANCNFSM6AAAAAAWJ5WGYA> > . > You are receiving this because you were mentioned.Message ID: > ***@***.***> >

[NDL200201]

@randy0011x @Buzzology Hi, I installed diffdrive_arduino of GitHub - Buzzology/diffdrive_arduino: A simple ROS Control Hardware Interface for differential drive control of robot whose motors are connected via an Arduino (or similar microcontroller).. I can run teleop_twist_keyboard to drive my around. My motors can work. But when I open rviz2 for tracking, when I press some letters ‘i’ and ‘m’ on the keyboard, the robot runs circle around base_link , doesn’t go straight ( forward and backward). I installed ROS2 HUMBLE. Can you help me, plz?