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ROS Package for WHILL Model CR

Home Page: https://whill.jp/model-cr

License: MIT License

CMake 12.69% C++ 83.00% C 4.31%

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[Deprecation Notice] "accelerometer" and "gyro" data will be disabled in the next release

WHILL Model CR has a 3DOF accelerometer and a 3DOF gyro sensor in it but they are NOT robotics grade.
Even though "accelerometer" and "gyro" data are available via SDK, these values are not reliable.
It sometimes causes confusion to CR users and thus we've decided to deprecate these two items.

whillをgazeboで動かしたいです

https://github.com/WHILL/ros_whill/blob/melodic-devel/xacro/modelc.xacro.を起動してwhillをgazeboで動かしたいです．
どのようにコマンドを入力すれば良いでしょうか？

complete documentation

hi @aquahika, thank you for providing us whill repository on github, i am new user. i also new in ROS.
do you have complete documentation from the beginning to setup whill for ROS ?
this readme on this github is quite short

catkin_make on Ubuntu 18.04 & ros-melodic failed

In file included from /home/seiya/catkin_ws/src/ros_whill/src/whill_modelc_publisher.cpp:41:0:
/home/xxxxx/catkin_ws/src/ros_whill/src/./odom.h:42:33: error: ‘constexpr’ needed for in-class initialization of static data member ‘const double Odometry::wheel_radius_’ of non-integral type [-fpermissive]
             static const double wheel_radius_ = 0.1325;
                                 ^~~~~~~~~~~~~
/home/xxxxx/catkin_ws/src/ros_whill/src/./odom.h:43:33: error: ‘constexpr’ needed for in-class initialization of static data member ‘const double Odometry::wheel_tread_’ of non-integral type [-fpermissive]
             static const double wheel_tread_  = 0.248;
                                 ^~~~~~~~~~~~

how to update the firmware?

HI @aquahika
i want to update the firmware for my whill
can you provide the information about that?

Use Xacro Model

Use Xacro instead of URDF to make easy to integrate other devices.

modelc.xacro

Is the orientation of the joints on each wheel correct?

Why is cacl_time_diff so weird?

The time difference function is not straight forward to understand. Can you help me in understanding it better?

Model CR can not power on sometimes

Sometimes, Model CR can not power on sometimes by ros_whill.
This cause is serial(RS232C) communication timing

Model CR receiving command needs 5ms interval in each command
Latest Model CR firmware needs 2times command for power on.

Integrate model_c_publisher and model_c_controller

No need to separate publisher and controller(subscriber).
It's more ROS standardized if they're combined.

Comparing wrong speed parameter

ros_whill/src/whill/SpeedProfile.cpp

Lines 48 to 53 in fbad65f

    
           if (!checkRange(8, this->forward.speed, 30)) 
        
               return InvalidBackwardSpeed; 
        
           if (!checkRange(10, this->forward.acc, 50)) 
        
               return InvalidBackwardAcc; 
        
           if (!checkRange(40, this->forward.dec, 90)) 
        
               return InvalidBackwardDec;

Backword speed parameters should be compared. This may occur speeds will not set even in a case of correct parameters are specified.

dae,xacro,urdf files for gazebo?

Hi, I want to try ros_whill by gazebo, but I found that there is no gazebo related files for whill.
Is there any files which related to gazebo is public?

Does this repository plan to support ROS2?

I would like to use ROS2 for research purposes, but this repository does not seem to have been updated recently.
Please let me know if there are any plans to support ROS2.
Thank you.

How can I control whill with external joy controller?

I would like to use external joy like logitech joystick to control the movement of the whill via ros package.
How can I do this?

Thank in advance.

Changing initial_speefprofile.yaml does nothing

On the melodic-devel branch
I use the package and nodes to control the While remotely.
However, it seems stuck on the default/original speed profile.
The setspeedprofile service is called
I went over the code and according to all the printed debug information it should work except that in reality, nothing changes.

Follow tf tree structure to REP standard.

Currently TF tree has structure of map -> odom -> base_footprint -> base_link. however defines of REP105 has no base_footprint.
https://www.ros.org/reps/rep-0105.html

base_footprint is for humanoid style robots.
http://www.ros.org/reps/rep-0120.html

	if (!checkRange(8, this->forward.speed, 30))
	return InvalidBackwardSpeed;
	if (!checkRange(10, this->forward.acc, 50))
	return InvalidBackwardAcc;
	if (!checkRange(40, this->forward.dec, 90))
	return InvalidBackwardDec;

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