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Raffaello Bonghi edited this page Oct 22, 2016 · 4 revisions

In your first run I suggest to run only the rosnode after launched the roscore

rosrun orbus_interface unav_node

In your shell you can read:

[ INFO] [1477133594.260678840]: -------------------------------------
[ INFO] [1477133594.260817477]: ------------- UNAV_NODE -------------
[ INFO] [1477133594.264446389]: Control:1Hz - Diagnostic:1Hz
[ INFO] [1477133594.269668508]: Open Serial /dev/ttyUSB0:115200
[ WARN] [1477133594.321607961]: No joint list!
[ WARN] [1477133594.329497816]: Default number selected for Motor: joint_0 is 0
[ INFO] [1477133594.336873377]: Motor[0] name: joint_0
[ WARN] [1477133594.572601880]: Default number selected for Motor: joint_1 is 1
[ INFO] [1477133594.573075925]: Motor[1] name: joint_1
[ INFO] [1477133594.766836759]: Name board: uNAV - v0.6
[ERROR] [1477133594.769571610]: Could not find parameter /robot_description on parameter server
[ERROR] [1477133594.769664815]: Failed to parse urdf file
[ WARN] [1477133594.773860885]: LOAD [joint_0] with DEFAULT limit = |5| rad/s & |2| Nm
[ WARN] [1477133594.796289652]: LOAD [joint_1] with DEFAULT limit = |5| rad/s & |2| Nm
[ INFO] [1477133594.845326652]: Started /unav_interface

When the board is corrected initialized you can read something of this:

[ INFO] [1477140927.691826625]: -------------------------------------
[ INFO] [1477140927.692275322]: ------------- UNAV_NODE -------------
[ INFO] [1477140927.696952784]: Control:50Hz - Diagnostic:5Hz
[ INFO] [1477140927.700173252]: Open Serial /dev/ttyUSB0:115200
[ INFO] [1477140927.732635529]: GPIO configuration available.
[ INFO] [1477140927.735649709]: Motor[0] name: left_joint
[ INFO] [1477140927.919837484]: Motor[1] name: right_joint
[ INFO] [1477140928.148333706]: Name board: uNAV - v0.6
[ INFO] [1477140928.149955502]: /robot_description found! example parsed!
[ INFO] [1477140928.150003014]: LOAD [left_joint] limits from URDF: |10| rad/s & |1| Nm
[ INFO] [1477140928.157066295]: LOAD [right_joint] limits from URDF: |10| rad/s & |1| Nm
[ INFO] [1477140928.203198683]: Started /unav

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