Hi,
I'm getting this error "Lost sync with device, restarting..." after a few seconds starting rosserial. I'm getting it with this sketch:
#include
#include
ros::NodeHandle_ nh;
geometry_msgs::Vector3 pub_msg;
ros::Publisher pub("/car/power", &pub_msg);
static int potenza_linear = 0;
static int potenza_angular = 0;
// True if the car is rotating, false if translating
bool rotating = false;
float mapf(const float& x, const float& in_min, const float& in_max, const float& out_min, const float& out_max)
{ return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}
/* =========== */
/* MPU6050 IMU */
/* =========== */
// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
// for both classes must be in the include path of your project
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
//#include "MPU6050.h" // not necessary if using MotionApps include file
// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif
// class default I2C address is 0x68
// specific I2C addresses may be passed as a parameter here
// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board)
// AD0 high = 0x69
MPU6050 mpu;
//MPU6050 mpu(0x69); // <-- use for AD0 high
/* =========================================================================
NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch
depends on the MPU-6050's INT pin being connected to the Arduino's
external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is
digital I/O pin 2.
* ========================================================================= */
/* =========================================================================
NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error
when using Serial.write(buf, len). The Teapot output uses this method.
The solution requires a modification to the Arduino USBAPI.h file, which
is fortunately simple, but annoying. This will be fixed in the next IDE
release. For more info, see these links:
http://arduino.cc/forum/index.php/topic,109987.0.html
http://code.google.com/p/arduino/issues/detail?id=958
* ========================================================================= */
// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual
// quaternion components in a [w, x, y, z] format (not best for parsing
// on a remote host such as Processing or something though)
//#define OUTPUT_READABLE_QUATERNION
// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles
// (in degrees) calculated from the quaternions coming from the FIFO.
// Note that Euler angles suffer from gimbal lock (for more info, see
// http://en.wikipedia.org/wiki/Gimbal_lock)
//#define OUTPUT_READABLE_EULER
// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/
// pitch/roll angles (in degrees) calculated from the quaternions coming
// from the FIFO. Note this also requires gravity vector calculations.
// Also note that yaw/pitch/roll angles suffer from gimbal lock (for
// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock)
#define OUTPUT_READABLE_YAWPITCHROLL
// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration
// components with gravity removed. This acceleration reference frame is
// not compensated for orientation, so +X is always +X according to the
// sensor, just without the effects of gravity. If you want acceleration
// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead.
//#define OUTPUT_READABLE_REALACCEL
// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration
// components with gravity removed and adjusted for the world frame of
// reference (yaw is relative to initial orientation, since no magnetometer
// is present in this case). Could be quite handy in some cases.
//#define OUTPUT_READABLE_WORLDACCEL
// uncomment "OUTPUT_TEAPOT" if you want output that matches the
// format used for the InvenSense teapot demo
//#define OUTPUT_TEAPOT
#define INTERRUPT_PIN 2 // use pin 2 on Arduino Uno & most boards
#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
bool blinkState = false;
// MPU control/status vars
bool dmpReady = false; // set true if DMP init was successful
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer
// orientation/motion vars
Quaternion q; // [w, x, y, z] quaternion container
//VectorInt16 aa; // [x, y, z] accel sensor measurements
//VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
//VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
VectorFloat gravity; // [x, y, z] gravity vector
//float euler[3]; // [psi, theta, phi] Euler angle container
static float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };
// ================================================================
// === INTERRUPT DETECTION ROUTINE ===
// ================================================================
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
mpuInterrupt = true;
}
/* ============== */
/* PIN DEFINITION */
/* ============== */
int encoderPin1 = 2;
int encoderPin2 = 3;
const int triggerPort = 12;
const int echoPort = 8;
const int led = 13;
static int mA_left = 4; //pin digitale per determinare gli stati logici da inviare al modulo
static int mB_left = 5; //pin digitale per determinare gli stati logici da inviare al modulo
static int mA_right = 6; //pin digitale per determinare gli stati logici da inviare al modulo
static int mB_right = 7; //pin digitale per determinare gli stati logici da inviare al modulo
static int power_left = 9;
static int power_right = 10;
/* ========== */
/* PARAMETERS */
/* ========== */
bool verb = false;
unsigned long cycle_time = 0;
/* ENCODER */
volatile int lastEncoded = 0;
volatile long encoderValue = 0;
long lastencoderValue = 0;
int lastMSB = 0;
int lastLSB = 0;
/* SONAR */
static long durata, distanza;
/* Timeout for the sonar range measurements in microseconds.
* 1 meter max range = 2 * 3.3 ms = 6600 microseconds
* speed of sound: 300 m/s
* path length for 1m = 2m (return signal)
*/
const int sonar_timeout = 5000;
void vel_callback(const geometry_msgs::Vector3& msg) {
// Limited power for rotations!!
potenza_linear = mapf(abs(msg.x), 0, 1, 80, 255);
potenza_angular = mapf(abs(msg.z), 0, 1, 80, 150);
if(msg.z < 0) {
rotating = true;
digitalWrite(mA_left, LOW);
digitalWrite(mB_left, HIGH);
digitalWrite(mA_right, LOW);
digitalWrite(mB_right, HIGH);
analogWrite(power_left, potenza_angular);
analogWrite(power_right, potenza_angular);
}
if(msg.z > 0) {
rotating = true;
digitalWrite(mA_left, HIGH);
digitalWrite(mB_left, LOW);
digitalWrite(mA_right, HIGH);
digitalWrite(mB_right, LOW);
analogWrite(power_left, potenza_angular);
analogWrite(power_right, potenza_angular);
}
if(msg.x < 0) {
rotating = false;
digitalWrite(mA_left, HIGH);
digitalWrite(mB_left, LOW);
digitalWrite(mA_right, LOW);
digitalWrite(mB_right, HIGH);
analogWrite(power_left, potenza_linear);
analogWrite(power_right, potenza_linear);
}
if(msg.x > 0) {
rotating = false;
digitalWrite(mA_left, LOW);
digitalWrite(mB_left, HIGH);
digitalWrite(mA_right, HIGH);
digitalWrite(mB_right, LOW);
analogWrite(power_left, potenza_linear);
analogWrite(power_right, potenza_linear);
}
if((msg.x == 0) && (msg.z == 0)) {
rotating = false;
digitalWrite(mA_left, LOW);
digitalWrite(mB_left, LOW);
digitalWrite(mA_right, LOW);
digitalWrite(mB_right, LOW);
analogWrite(power_left, potenza_linear);
analogWrite(power_right, potenza_linear);
}
}
ros::Subscriber s("/car/cmd_vel",vel_callback);
void setup() {
nh.initNode();
nh.subscribe(s);
nh.advertise(pub);
Serial.begin (57600);
// MPU6050
// join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif
// initialize serial communication
// (115200 chosen because it is required for Teapot Demo output, but it's
// really up to you depending on your project)
//Serial.begin(115200);
// while (!Serial); // wait for Leonardo enumeration, others continue immediately
// NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino
// Pro Mini running at 3.3V, cannot handle this baud rate reliably due to
// the baud timing being too misaligned with processor ticks. You must use
// 38400 or slower in these cases, or use some kind of external separate
// crystal solution for the UART timer.
// initialize device
// Serial.println(F("Initializing I2C devices..."));
mpu.initialize();
pinMode(INTERRUPT_PIN, INPUT);
/* verify connection
Serial.println(F("Testing device connections..."));
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
// wait for ready
Serial.println(F("\nSend any character to begin DMP programming and demo: "));
while (Serial.available() && Serial.read()); // empty buffer
while (!Serial.available()); // wait for data
while (Serial.available() && Serial.read()); // empty buffer again
*/
// load and configure the DMP
//Serial.println(F("Initializing DMP..."));
devStatus = mpu.dmpInitialize();
// supply your own gyro offsets here, scaled for min sensitivity
mpu.setXGyroOffset(220);
mpu.setYGyroOffset(76);
mpu.setZGyroOffset(-85);
mpu.setZAccelOffset(1788); // 1688 factory default for my test chip
// make sure it worked (returns 0 if so)
if (devStatus == 0) {
// turn on the DMP, now that it's ready
//Serial.println(F("Enabling DMP..."));
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection
//Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();
// set our DMP Ready flag so the main loop() function knows it's okay to use it
//Serial.println(F("DMP ready! Waiting for first interrupt..."));
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();
}
// configure LED for output
pinMode(LED_PIN, OUTPUT);
// ENCODER
pinMode(encoderPin1, INPUT_PULLUP);
pinMode(encoderPin2, INPUT_PULLUP);
attachInterrupt(0, updateEncoder, CHANGE);
attachInterrupt(1, updateEncoder, CHANGE);
// SONAR
pinMode(triggerPort, OUTPUT);
pinMode(echoPort, INPUT);
pinMode(led, OUTPUT);
// MOTORS
pinMode(mA_left, OUTPUT);
pinMode(mB_left, OUTPUT);
pinMode(mA_right, OUTPUT);
pinMode(mB_right, OUTPUT);
pinMode(power_left, OUTPUT);
pinMode(power_right, OUTPUT);
}
void loop(){
/*
digitalWrite(mA_left, LOW);
digitalWrite(mB_left, HIGH);
digitalWrite(mA_right, HIGH);
digitalWrite(mB_right, LOW);
analogWrite(power_left, 150);
analogWrite(power_right, 150);*/
// Starting time
// cycle_time = millis();
// ENCODER
// Serial.print("Rotazione: ");
// Serial.println(encoderValue);
// SONAR
//porta bassa l'uscita del trigger
digitalWrite( triggerPort, LOW );
//invia un impulso di 10microsec su trigger
digitalWrite( triggerPort, HIGH );
delayMicroseconds( 10 );
digitalWrite( triggerPort, LOW );
durata = pulseIn( echoPort, HIGH, sonar_timeout);
distanza = 0.034 * durata / 2;
//Serial.print("distanza: ");
if((distanza < 10) && (distanza != 0)){
digitalWrite(led, HIGH);
}
else{
digitalWrite(led, LOW);
}
//MPU
// if programming failed, don't try to do anything
if (!dmpReady) return;
/*
// wait for MPU interrupt or extra packet(s) available
while (!mpuInterrupt && fifoCount < packetSize) {
// other program behavior stuff here
// .
// .
// .
// if you are really paranoid you can frequently test in between other
// stuff to see if mpuInterrupt is true, and if so, "break;" from the
// while() loop to immediately process the MPU data
// .
// .
// .
}
*/
// reset interrupt flag and get INT_STATUS byte
mpuInterrupt = false;
mpuIntStatus = mpu.getIntStatus();
// get current FIFO count
fifoCount = mpu.getFIFOCount();
// check for overflow (this should never happen unless our code is too inefficient)
if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
// reset so we can continue cleanly
mpu.resetFIFO();
//Serial.println(F("FIFO overflow!"));
// otherwise, check for DMP data ready interrupt (this should happen frequently)
} else if (mpuIntStatus & 0x02) {
// wait for correct available data length, should be a VERY short wait
while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
// read a packet from FIFO
mpu.getFIFOBytes(fifoBuffer, packetSize);
// track FIFO count here in case there is > 1 packet available
// (this lets us immediately read more without waiting for an interrupt)
fifoCount -= packetSize;
#ifdef OUTPUT_READABLE_YAWPITCHROLL
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
//Serial.print("ypr\t");
//Serial.print(ypr[0] * 180/M_PI);
//Serial.print("\t");
//Serial.print(ypr[1] * 180/M_PI);
//Serial.print("\t");
//Serial.println(ypr[2] * 180/M_PI);
#endif
}
/*
if(verb) {
Serial.print("\n");
Serial.print("Encoder: ");
Serial.print(encoderValue);
Serial.print("\t");
Serial.print("Range: ");
Serial.print(distanza);
Serial.print("\t");
Serial.print("Yaw: ");
Serial.print(ypr[0] * 180/M_PI);
Serial.print("\t");
Serial.print("Cycle time: ");
Serial.print(millis() - cycle_time);
}
*/
pub_msg.x = encoderValue;
pub_msg.y = ypr[0] * 180/M_PI;
pub_msg.z = distanza;
pub.publish(&pub_msg);
nh.spinOnce();
}
void updateEncoder(){
int MSB = digitalRead(encoderPin1); //MSB = most significant bit
int LSB = digitalRead(encoderPin2); //LSB = least significant bit
int encoded = (MSB << 1) |LSB; //converting the 2 pin value to single number
int sum = (lastEncoded << 2) | encoded; //adding it to the previous encoded value
if(sum == 0b1101 || sum == 0b0100 || sum == 0b0010 || sum == 0b1011) encoderValue ++;
if(sum == 0b1110 || sum == 0b0111 || sum == 0b0001 || sum == 0b1000) encoderValue --;
lastEncoded = encoded; //store this value for next time
}
My arduino is connected (with original cable) to a raspi 3 and I ssh into that one. I've already tried arduino nano, uno and also mega, because i thought the message was too big. I also tried different baud rates and programmers. Also added nh.SpinOnce; after publishing every single vector3 message part.
Anyone knows how to fix this?
↧