yujinrobot/kobuki

Software for iClebo Kobuki

kobuki's Issues

The Hoon Checklist

• Why does Kobukibot Mk I not fail on the protocol version request?

Im guessing the code there is not commited.

• Deprecate protocol_version 1.0?
• Which xacro is current?

Gyro output mode toggle

Means to toggle between raw 3-dim data and our calibrated 1-dim data.

kobuki_meta -> kobuki_bringup

Bring in line with the turtlebot naming system.

What's in a name?

What happens if we chance param robot/name in the launchers from turtlebot2 -> kobukibot?

Are default_data and sensor_data different?

We are publishing two topics the same....?

Exterminate device_comms

This will probably disappear if we stop using ycs' diff drive.

Cleanup and merge odometry variables

Mixed up and there is a redundant unused odometry class floating around there too.

Serial buffer

Some strange behaviour. Here is the 170 byte payload request and also why is the serial buffer filling up so often?

[ WARN] [1333652619.496448447]: diagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK so it is okay to wait until the device is open before calling setHardwareID.
[ INFO] [1333652619.594795983]: DiffDriveBase : using odom_frame_id [odom_combined][/kobuki/mobile_base].
[ INFO] [1333652619.598861560]: DiffDriveBase : using base_frame_id [base_footprint][/kobuki/mobile_base].
[ WARN] [1333652621.062831327]: kobuki_node : serial buffer filling up, clearing [44 bytes]
[ WARN] [1333652621.102770648]: kobuki_node : serial buffer filling up, clearing [46 bytes]
[ INFO] [1333652624.621039157]: Mobile Base : configured a differential drive platform [/kobuki/mobile_base]
[ WARN] [1333652626.202768009]: kobuki_node : serial buffer filling up, clearing [37 bytes]
[ WARN] [1333652637.542795507]: Packet Handler : abnormally sized payload retrieved, clearing [64][170]
[ WARN] [1333652639.035271114]: kobuki_node : serial buffer filling up, clearing [31 bytes]
[ WARN] [1333652639.076779963]: kobuki_node : serial buffer filling up, clearing [44 bytes]
[ WARN] [1333652645.232780532]: kobuki_node : serial buffer filling up, clearing [47 bytes]

Remove ycs from CMakeLists.txt

Scan the kobuki root CMakeLists.txt and terminate any ycs related references.

Sigslots for logging in the driver

Set up sigslots that we can connect to from the wrapper node for debug, info, warn and error logs.

See the goo for an implementation reference.

Programmable leds

Need api for programmable leds.

turtlebot keyop launcher

Shift a launcher with our topics into kobuki_bringup.

Battery

How to do a warning for the battery level?

Emergency Stop

Emergency stop api or maybe just pin on the

Ping Led's

Make sure they work.

Licensing

Add bsd licenses to all our files.

Script for udev rule

Script for setting up the udev rule to /dev/kobuki.

Remove diff drive

Need to replace ycs' diff drive module somehow.

Overhaul msg use in the driver

This is a pretty big job - currently lots of ros msgs being used as data structs in the driver part. Lots of pinging around as well. Need to SIMPLIFY!

Use ftdi

This is potentially really nice for kobukibot. We give the chip a name this way instead of the bingle bingle resulting from mixing all the ttyUSBx's.

Let's try after getting all the stacks up and running (maybe after sending to willow).

This will mean moving our ftdi package to a public yujin stack.

Packet handler stumped

It gets stuck as you can see at https://gist.github.com/2313221.

• Why is it receiving a 170 byte payload? (this isn't random, just infrequent).
• It can't handle that much, so it bombs (max buffer size rolls over at 64), needs error handling

Simulation for motors in driver

Put in a simulation mode for the motors in the driver, so we can at least run it without the robot.

Kobuki Description

Match our kobuki_description with the turtlebot_description package. Maybe even utilise some of it.

Enable the gyro

It's getting data from the firmware, but we're not using it yet.

Ubuntu upstart scripts

Get it started via ubuntu's upstart...see turtlebot_bringup for example.

Launchers for turtlebot

Redo the launchers, integrating them in the same style as turtlebot_bringup

Digital Input

Digital io api.

Segfaulting in updatePacket()

No idea why, somewhere just before the checksum.

It's eating all my std outs as well.

Terminate cleanly

It is not closing threads and classes properly (segfaulting, throwing exceptions on every ctrl-c)

Gyro simulation jumps

In simulation, the gyro jumps in two places.

Clean comments

Lots of comments in various files are outdated - remove or update them.

Cliff sensor has variable value

Don't just treat it as on/off.

Commands - cut the fat

Work out what we use from commands.hpp. Also migrate away from the ros msg.

Analog Input

Analog input api.

Sensor data to Core data

It needs a trim for only what we're using (look at default.cpp for that). Also rename it core data.

Also remove the ros message.

Base Transforms

Establish backup transform for when the robot_pose_ekf is not used to supply transforms itself (default publiishing of TF should be false).

See parameter variables here: http://www.ros.org/wiki/turtlebot_node

Keyop core

Fix the launchers to get keyop core functional.

Remove usleeps

usleep is depracated from posix.

Use ecl's sleeps instead.

Joint State Publisher

Need it publishing joint information.

Programmable buttons

Remove pubtime from driver

What is this hackish relic? Get rid of it.

Pump angular velocity in

We have it, put it into imu_data.

Battery Diagnostic

Similar to that in the turtlebot_node (sa turtlebot_bringup).

Remove using xxx in .hpp's

Remove all the using keywords in headers (bad practice).

For example, remove:

using ecl::TimeStamp;

and add the ecl::prefix where you actually use it.

Exterminate device_nodelet

Cant use nodelets here as the turtlebot_driver and node are rather simple - just implement as a single process.

Now we could do as multiple libs and nodelets, but that is more complicated - maybe try that later.

remove ycs' standard_comms in kobuki_node

ycs' standard_comms are still used in both scripts in kobuki_node. they are also listed in the kobuki_node.hpp, but not used.

resetOdometry

Should call this at startup, but also on user request (driver api and ros service)

velocity command timeout

Part of the REP spec. Needs a parameter, and a trigger (inside the ros node probably?) to turn it off when exceeding the timeout since last command.

Depracated fw 1.0 support

We don't need this.

Confirm fw button, led, io api

Make sure that the firmware is doing the right thing for us here while I have einstein in my pocket.