open-dynamic-robot-initiative / bolt Goto Github PK

I am trying to use IMU for Bolt. The problem is that sometimes base_attitude_ is equal to zero. The behavior is changing with different compiling. For example, I added some prints, then it works, and by adding more prints, it doesn't work.

To me, it doesn't seem the problem comes from hardware or connection because master_board_example works fine.

Hi @MaximilienNaveau !

I am in internship at LAAS with Olivier Stasse. I have build a Bolt, and now I am trying to apply those codes on the robot. I am currently trying to use the “demos” codes. I forked the repo (https://github.com/PaulRouanet/bolt.git) in order to create “_test” versions that I am modifying. My main issue is that when I am running “bolt_demo_calibration” or “bolt_demo_sensor_reading”, I always have the same message :
“ERROR: The slider box is not responding correctly, 10 iteration are missing.”

I have seen with Olivier, he think that communications between Masterboard and Micro-Drivers are the reason of this error.
Firstly, we have though about message printing (on sensor_reading), but when we comment the lines, nothing change.
Then, he though about real time priorities problem. That’s why he modified “thread” codes in real_time_tools (fork : https://github.com/PaulRouanet/real_time_tools.git). He give the first priority to the reading (-80).

Do you have an idea on how to solve this error message ?

And then, is there the “bolt_demo_calibration” code that allow us to calibrate our Bolt ? And finally, which code allow us to make walk Bolt (is it bolt_demo_pd ?) ?

Best,
Paul

Here we talk the issue we have on Bolt using the odri_control_interface and the dynamic_graph_manager.

So far there seem to be trouble with YAML parsing of the parameters.

This issue is tackle by this PR:
#3