hands-free / handsfree

HandsFree Open Source Robot Project

HandsFree ROS

Environment

we recommend that you test code on the x86 pc before transplant to TK1 or TX1/2

• 1. Make sure you install ROS and carefully read the Beginner Level Tutorials
• 2. Follow HandsFree Tutorials to install some dependent packages
• 3. Compilation : catkin_make

• 4. run example

     roslaunch handsfree_hw handsfree_hw.launch
     roslaunch handsfree_hw keyboard_teleop.launch

then you can remote control robot.

Community:

• HandsFree Github
• HandsFree Wiki
• Email: [email protected]

handsfree's Issues

a little but critical bug in your code

在transport_serial.cpp的52行缺少了
initialize_ok_ = true ;

YAML errors in running handsfree_v6_plus_arm_bringup

When I running the roslaunch handsfree_v6_plus_arm_bringup arm_bringup.launch sim:=true in terminal, the errors occured. Some of errors are below:
Traceback (most recent call last): File "v6_plus_arm_sim_hw.py", line 4, in <module> File "/opt/ros/noetic/lib/python3/dist-packages/rospy/__init__.py", line 47, in <module> from std_msgs.msg import Header File "/opt/ros/noetic/lib/python3/dist-packages/std_msgs/msg/__init__.py", line 1, in <module> from ._Bool import * File "/opt/ros/noetic/lib/python3/dist-packages/std_msgs/msg/_Bool.py", line 6, in <module> import genpy File "/opt/ros/noetic/lib/python3/dist-packages/genpy/__init__.py", line 34, in <module> from . message import Message, SerializationError, DeserializationError, MessageException, struct_I File "/opt/ros/noetic/lib/python3/dist-packages/genpy/message.py", line 48, in <module> import yaml File "/opt/ros/noetic/lib/python3/dist-packages/yaml/__init__.py", line 399 class YAMLObject(metaclass=YAMLObjectMetaclass): ^ SyntaxError: invalid syntax process[arm_action_server-9]: started with pid [14471] Traceback (most recent call last): File "arm_controller_trajectory.py", line 7, in <module> File "/opt/ros/noetic/lib/python3/dist-packages/rospy/__init__.py", line 47, in <module> from std_msgs.msg import Header File "/opt/ros/noetic/lib/python3/dist-packages/std_msgs/msg/__init__.py", line 1, in <module> from ._Bool import * File "/opt/ros/noetic/lib/python3/dist-packages/std_msgs/msg/_Bool.py", line 6, in <module> import genpy File "/opt/ros/noetic/lib/python3/dist-packages/genpy/__init__.py", line 34, in <module> from . message import Message, SerializationError, DeserializationError, MessageException, struct_I File "/opt/ros/noetic/lib/python3/dist-packages/genpy/message.py", line 48, in <module> import yaml File "/opt/ros/noetic/lib/python3/dist-packages/yaml/__init__.py", line 399 class YAMLObject(metaclass=YAMLObjectMetaclass): ^ SyntaxError: invalid syntax Traceback (most recent call last): File "joint_state_publisher.py", line 3, in <module> File "/opt/ros/noetic/lib/python3/dist-packages/rospy/__init__.py", line 47, in <module> from std_msgs.msg import Header File "/opt/ros/noetic/lib/python3/dist-packages/std_msgs/msg/__init__.py", line 1, in <module> from ._Bool import * File "/opt/ros/noetic/lib/python3/dist-packages/std_msgs/msg/_Bool.py", line 6, in <module> import genpy File "/opt/ros/noetic/lib/python3/dist-packages/genpy/__init__.py", line 34, in <module> from . message import Message, SerializationError, DeserializationError, MessageException, struct_I File "/opt/ros/noetic/lib/python3/dist-packages/genpy/message.py", line 48, in <module> import yaml File "/opt/ros/noetic/lib/python3/dist-packages/yaml/__init__.py", line 399 class YAMLObject(metaclass=YAMLObjectMetaclass): ^ SyntaxError: invalid syntax [v6_plus_arm_sim_hw-2] process has died [pid 14463, exit code 1, cmd /home/nick/handsfree/handsfree_ros_ws/src/handsfree_arm/handsfree_v6_plus_arm/handsfree_v6_plus_arm_hw/scripts/v6_plus_arm_sim_hw.pyc __name:=v6_plus_arm_sim_hw __log:=/home/nick/.ros/log/07dab29e-e26e-11ed-94d5-8d5134ab6ba9/v6_plus_arm_sim_hw-2.log]. log file: /home/nick/.ros/log/07dab29e-e26e-11ed-94d5-8d5134ab6ba9/v6_plus_arm_sim_hw-2*.log
These handsfree packages can work in handsfree girreff robot which is ubuntu16 with ros kinetic. I want to run these packages in ubuntu20 with ros noetic. How to fix these problems?

handsfree_msgs CMakeLists bug

To generate messages successfully, please add follow generate_messages(DEPENDENCIES sensor_msgs std_msgs) before catkin_package() to CMakeLists.

运行roslaunch handsfree_hw handsfree_hw.launch 碰到一个新问题

麻烦您帮忙看看，我应该从哪方面解决这个问题

Failed to open the serial port

我用的是老版stone，然后今天用了更新之后的handsfree仓库，编译之后来准备控制机器人，但是总会报打不开串口的错误。我又用了我之前fork的handsfree仓库，编译之后就可以控制了。这个问题我没找出来原因在哪儿，因为除了两个库不一样之外，其他我的操作都没有问题。/ttyUSB0的权限没错，但新版就是不行。下面是新版报错信息：

auto-starting new master
process[master]: started with pid [29561]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to ddcf0f64-4a36-11e9-b30b-000e8e3c6ea9
process[rosout-1]: started with pid [29574]
started core service [/rosout]
process[handsfree_hw_node-2]: started with pid [29587]
process[mobile_base/controller_spawner-3]: started with pid [29592]
process[robot_state_publisher-4]: started with pid [29593]
the configure file path is: /home/slam/ros_ws/src/handsfree/handsfree_hw/config.txt
the serial_port is: serial:///dev/HFRobot
Failed to open the serial port 
Error info is open: No such file or directory
serial Transport initialize failed ,please check your system
config file opened succeed
[ERROR] [1552993513.032521449]: hf link initialized failed, please check the serial port of the openre board,for details,please see: http://wiki.hfreetech.org/
handsfree_hw_node: /usr/include/boost/smart_ptr/shared_ptr.hpp:646: typename boost::detail::sp_dereference<T>::type boost::shared_ptr<T>::operator*() const [with T = boost::asio::basic_serial_port<>; typename boost::detail::sp_dereference<T>::type = boost::asio::basic_serial_port<>&]: Assertion `px != 0' failed.
[handsfree_hw_node-2] process has died [pid 29587, exit code -6, cmd /home/slam/ros_ws/devel/lib/handsfree_hw/handsfree_hw_node __name:=handsfree_hw_node __log:=/home/slam/.ros/log/ddcf0f64-4a36-11e9-b30b-000e8e3c6ea9/handsfree_hw_node-2.log].
log file: /home/slam/.ros/log/ddcf0f64-4a36-11e9-b30b-000e8e3c6ea9/handsfree_hw_node-2*.log

log文件我也看了一下：

/dev/HFRobot
SHAKING_HANDS11
READ_SYSTEM_INFO11
SET_MOTOR_PARAMETERS00
SAVE_MOTOR_PARAMETERS00
SET_CHASSIS_PARAMETERS00
SAVE_CHASSIS_PARAMETERS00
SET_HEAD_PARAMETERS00
SAVE_HEAD_PARAMETERS00
SET_ARM_PARAMETERS00
SAVE_ARM_PARAMETERS00
SET_GLOBAL_SPEED00
READ_GLOBAL_SPEED00
SET_ROBOT_SPEED110
READ_ROBOT_SPEED110
SET_MOTOR_SPEED00
READ_MOTOR_SPEED110
READ_MOTOR_MILEAGE00
READ_GLOBAL_COORDINATE110
READ_ROBOT_COORDINATE00
CLEAR_COORDINATE_DATA00
SET_HEAD_STATE110
READ_HEAD_STATE110
SET_ARM_STATE00
READ_ARM_STATE00
READ_IMU_BASE_DATA00
READ_IMU_FUSION_DATA00
READ_GPS_DATA00
[ WARN] [1552993513.032451597]: Replacing previously registered interface 'hardware_interface::JointStateInterface'.
send message  1

不是太懂为什么新版里串口一直是/dev/HFRobot ?

The website can't be accessed

http://wiki.hfreetech.org/docs/FAQ/environment_config.html
请更新新的网址