Sometimes the solution would be easy….
…damn I swapped Rx and Tx and everything went fine,
and I was so sure I connected, documented and even checked multiple times that all is as it should.
At first I thought the level shifter isn’t working, but my brand new Open Workbench Logic Sniffer showed signals, same signals before and after shifting, and was even able to autobaudrate guess my GPS defaults which is 38400.
As I 3D printed a case for the cubieboard I needed to remove the board from the robot anyway so I had the chance to look at the tiny pin headers again, oh and yes I swapped the cables for Rx and Tx there…. damn.
Installed the ROS hydro components for the dynamixel servos, and configured the pan tilt controllers.
Software so far looks OK, now I need to re-vive the dynamixels from the arduino and hopefully the protocol CRC errors will be gone.
<node name=”dynamixel_manager” pkg=”dynamixel_controllers” type=”controller_manager.py” required=”true” output=”screen”>
<!– Load controller configuration to parameter server –>
<rosparam file=”$(find teddy_dynamixel)/config/dynamixel_joint_controllers.yaml” command=”load”/>
<!– start specified joint controllers –>
<node name=”dynamixel_controller_spawner” pkg=”dynamixel_controllers” type=”controller_spawner.py”
I had to recompile the kernel on the cubieboard again, to enable USB CDC ACM support to be able to migrate the dynamixel servos over from the arduino to a dedicated USB2AX controller.
Meanwhile ROS hydro has it’s own gscam modules released, so I migrated from my own compiled module and also reconfigured the topic remapping.
<?xml version=”1″ encoding=”utf-8″?>
<node pkg=”gscam” type=”gscam” name=”gscamptz” cwd=”node” respawn=”true”>
<env name=”GSCAM_CONFIG” value=”v4l2src device=/dev/video0 always-copy=false ! video/x-raw-yuv,width=320,height=240,framerate=15/1 ! ffmpegcolorspace”/>
<remap from=”camera/image_raw” to=”/camera/ptz/image_raw” />
<remap from=”camera/camera_info” to=”/camera/ptz/camera_info” />
Video currently disabled but already working for all 4 cameras.
No updates on the robot from october 10th – 20th as I am ill again with 40.5 degrees fever and need to stay in my bed eating antibiotics daily.