ongdexter / ar3_core Goto Github PK

I'd like to run my AR3 using ROS2 (and so also MoveIt2) - prevailing wisdom is that ROS2 is preferred for new projects beyond 2021.

Have you done any ROS2 work with the AR3 already? Happy to contribute in any case.

When I go to test my installation I run the command per the tutorial:
roslaunch ar3_hardware_interface ar3_hardware_bringup.launch

And I receive this error:
RLException: [ar3_hardware_bringup.launch] is neither a launch file in package [ar3_hardware_interface] nor is [ar3_hardware_interface] a launch file name
The traceback for the exception was written to the log file

I thought perhaps it was a typo and it is supposed to be: ar3_bringup.launch instead of ar3_hardware_bringup.launch, as that file does exist, however it is a 0kb file so that fails as well.

shallwing@UbuntuROS:~/ar3_core-ROS$ rosrun ar3_control move_group_demo
/home/shallwing/ar3_core-ROS/devel/lib/ar3_control/move_group_demo: error while loading shared libraries: librviz_visual_tools.so.3.9.2: cannot open shared object file: No such file or directory

When I run this command in my noetic ROS, it appeared this error.
How can I solve it？Someone said that you can run "sudo apt-get install ros-melodic-rviz-visual-tools" to get the lib, but it doesn't work..,

Hello, I am trying to setup your software, and I am unable to connect to my teensy 3.5

Here is the error:
setting /run_id to c24222a2-882f-11eb-a7ee-1322e8fa6b0a
process[rosout-1]: started with pid [68324]
started core service [/rosout]
process[ar3_hardware_interface-2]: started with pid [68331]
process[controller_spawner-3]: started with pid [68332]
[ WARN] [1616102428.179043116]: Failed to connect to serial port ??s?
terminate called after throwing an instance of 'boost::wrapexceptboost::system::system_error'
what(): read: Bad file descriptor
[INFO] [1616102428.463405]: Controller Spawner: Waiting for service controller_manager/load_controller

Clearly the serial port is not correct.
here isresults of mesg | grep -i tty
cdc_acm 2-2:1.0: ttyACM0: USB ACM device

and in hardware_driver.yaml I have:
serial_port: /dev/ttyACM0 #"COM4"

what am I doing wrong?

When trying to connect with the real hardware, I'm having trouble issuing commands. If I do the normal hardware bringup is stays at the part of issuing the calibration points. If I skip this step in the launchup I can get the following results:

However, when I try to move out the robot in Rviz it states that the controller couldn't respond in time, so it aborts the execution of the planned move.

I tried moving the robot using the provided teensy sketch in the ARCS software (at a different time of using the ROS package) to ensure the system was moving correctly with the default option and that was the case.

Is there something specific I could look up to find the issue here?

Also the correct port and baudrate is configured in the hardware_driver.yaml file

PD:
Thanks a lot for sharing all this development, as someone who is getting into ROS is extra helpful to better understand its systems and components.

I was able to set up all the packages, and then when launching the command roslaunch ar3_hardware_interface ar3_hardware_bringup.launch using the Arduino baseline_with_ARCS.ino the robot arm does not calibrate and it runs up to this section
// run calibration
ROS_INFO("Running joint calibration...");
driver_.calibrateJoints();
THen, we tried running it without the calibration part and the arm moves. However, we want to be able to calibrate it. I am not sure if I am missing and step or a calibration command.

The AR4 was released recently and I wonder if this is compatible with ar3_core?

I can easily use ar3_hardware_interface and ar3_moveit_config then control the real AR4 in Rviz, but is anyone who can write a python/C++ source file to control the real AR4? Does the AR4 have any interface for user to control by program?