From bb636ceaf54e84a114b74ae769137753041e399e Mon Sep 17 00:00:00 2001 From: LSinterbotix Date: Thu, 2 Nov 2023 07:36:31 +0000 Subject: [PATCH] deploy: a9677d0d6b90ee8fc6ef42a8b02b578e47e4c129 --- _sources/troubleshooting.rst | 26 ++++++++++++++++++++++++++ ros_interface/ros1/software_setup.html | 2 +- ros_interface/ros2/software_setup.html | 2 +- searchindex.js | 2 +- troubleshooting.html | 20 ++++++++++++++++++++ 5 files changed, 49 insertions(+), 3 deletions(-) diff --git a/_sources/troubleshooting.rst b/_sources/troubleshooting.rst index 684c391..6985784 100644 --- a/_sources/troubleshooting.rst +++ b/_sources/troubleshooting.rst @@ -80,6 +80,32 @@ Create® 3 base not responding to commands, can't see topics or webserver from L .. _`adapter board`: https://iroboteducation.github.io/create3_docs/hw/adapter/ .. _`iRobot® Create® 3 Releases`: https://iroboteducation.github.io/create3_docs/releases/overview/ +You want to reset the Create® 3 base's odometry but don't want to power cycle it +-------------------------------------------------------------------------------- + +The Create® 3 base's odometry is reset only when it is power cycled. To reset the odometry without +power cycling the base, you can use the ``ros2 service call`` command line tool to call the +``reset_pose`` service. + +.. tabs:: + + .. group-tab:: ROS 1 + + The ROS 2 distribution and Create® 3 messages workspace must be sources first since the + service is only available in ROS 2. + + .. code-block:: console + + $ source /opt/ros/galactic/setup.bash + $ source ~/create3_ros2_ws/install/setup.bash + $ ros2 service call /mobile_base/reset_pose irobot_create_msgs/srv/ResetPose {} + + .. group-tab:: ROS 2 + + .. code-block:: console + + $ ros2 service call /mobile_base/reset_pose irobot_create_msgs/srv/ResetPose {} + Less Common Issues ================== diff --git a/ros_interface/ros1/software_setup.html b/ros_interface/ros1/software_setup.html index 7fd1d53..1592855 100644 --- a/ros_interface/ros1/software_setup.html +++ b/ros_interface/ros1/software_setup.html @@ -245,7 +245,7 @@

AMD64 Architecture -
+

After powering on the NUC, a login screen should appear with locobot as the user name. Conveniently, the password is the same as the user name so type locobot and hit Enter. Next, update the computer by performing the following steps.

diff --git a/ros_interface/ros2/software_setup.html b/ros_interface/ros2/software_setup.html index 67a1064..85d4b43 100644 --- a/ros_interface/ros2/software_setup.html +++ b/ros_interface/ros2/software_setup.html @@ -238,7 +238,7 @@

AMD64 Architecture -
+

After powering on the NUC via the steps in the previous section, a login screen should appear with locobot as the user name. Conveniently, the password is the same as the user name so type locobot and hit Enter. Next, update the computer by performing the following diff --git a/searchindex.js b/searchindex.js index 767e2d9..3c9c68d 100644 --- a/searchindex.js +++ b/searchindex.js @@ -1 +1 @@ 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Started","Create\u00ae 3 Setup","Hardware Setup","Pairing Your Controller","RMW Configuration","Basic Usage","Interbotix X-Series LoCoBots","Python-ROS Interface","ROS 1 Open Source Packages","Gazebo Simulation Configuration","Joystick Control","Landmark-Based Navigation","LoCoBot Control","LoCoBot Descriptions","MoveIt Interface and API","MoveIt Motion Planning Configuration","Navigation Stack Configuration","Perception Pipeline Configuration","Python Demos","ROS Controllers Configuration","ROS 2 Open Source Packages","Joystick Control","LoCoBot Control","LoCoBot Descriptions","MoveIt 2 Motion Planning Configuration","Navigation Stack Configuration","Python Demos","ROS 2 Controllers Configuration","Simulation Configuration","ROS Interface","ROS 1 Interface","ROS 1 Configurations","ROS 1 Quickstart Guide","ROS 1 Standard Software Setup","ROS 2 Interface","ROS 2 Configurations","ROS 2 Quickstart Guide","ROS 2 Standard Software Setup","Specifications","LoCoBot Base","LoCoBot PincherX-100","LoCoBot WidowX-200","LoCoBot WidowX-250 6 DOF","Troubleshooting"],titleterms:{"000mah":38,"1":[4,8,30,31,32,33,43],"100":40,"2":[1,4,20,22,24,27,34,35,36,37,43],"200":41,"250":42,"3":[1,4,38,43],"360":38,"50":38,"6":42,"default":[39,40,41,42],"do":17,"function":7,"return":17,"super":4,A:3,In:[16,38],Into:5,No:17,On:[3,5],a2:38,ad:11,after:[16,25],all:17,aluminum:38,amd64:[33,37],api:14,applic:1,ar:[17,43],architectur:[33,37],arm:[10,21],armtag:17,assembl:2,bank:38,base:[4,10,11,21,39,43],basic:5,best:7,blink:3,both:[10,21],built:16,bulk:17,calibr:17,camera:38,can:43,charg:5,check:[33,37],chosen:17,classic:28,client:4,clock:43,closur:[16,25],cluster:17,color:17,command:43,common:43,compat:[33,37],comput:[4,31,43],configur:[1,4,5,9,15,16,17,19,24,25,27,28,31,35,39,40,41,42],constant:17,construct:38,content:[0,5,6,30,34],continu:16,control:[3,7,10,12,19,21,22,27],could:17,creat:[1,4,38,43],cycl:43,d435:38,dd:4,declar:43,demo:[17,18,26],depth:[16,38],descript:[13,23],dev:43,develop:5,discoveri:4,displai:43,doe:[16,25,43],dof:42,don:43,draw:[39,40,41,42],driven:43,echo:43,enabl:4,environ:[4,31],exampl:[7,18],fast:4,fastrtps_default_profiles_fil:4,few:3,file:[1,4],filter:17,find:17,flicker:17,forward:4,found:[17,43],from:[16,25,43],gazebo:[9,28],gener:5,get:0,go:[16,25],guid:[32,33,36],hardwar:[2,38],here:6,hostnam:5,incomplet:17,ing:16,instal:[33,37],instead:17,intel:38,interbotix:6,interbotix_xslocobot_base_typ:31,interfac:[4,5,7,14,29,30,34],ip:4,isn:3,issu:[17,43],joystick:[10,21],k01:38,k2:38,kobuki:38,landmark:11,laser:38,launch:[23,43],led:3,less:43,lidar:43,local:[11,16,25],locat:[16,25],locobot:[2,4,5,6,7,12,13,16,18,22,23,31,33,39,40,41,42,43],look:16,loop:[16,25],main:1,manipul:[40,41,42],map:[11,16,25],marker:17,match:[17,43],maxoak:38,mini:38,miscellan:7,mode:[10,21],model:[6,33,37,38],motion:[15,24],moveit:[14,15,24],navig:[11,16,25],network:5,next:[33,37],note:[15,24],nuc:38,object:17,odometri:43,off:[3,5],open:[7,8,18,20],option:38,out:[16,25],overview:[9,10,11,12,13,14,15,16,17,18,19,21,22,23,24,25,26,27,28],packag:[7,8,18,20],pair:3,pan:38,paramet:[1,7,17,43],pc:38,percept:17,pick:17,pincherx:40,pipelin:17,place:17,plan:[15,24],pleas:17,pointcloud:17,pose:17,power:[38,43],practic:7,pre:16,process:17,ps3:3,ps4:3,publish:43,py:23,python:[7,17,18,26],quickstart:[32,36],rang:38,realsens:38,recommend:3,reflex:43,reject:[16,25],remot:[4,5,31,33,37,43],remote_view:23,requir:[33,37],reset:[16,25,43],respect:17,respond:43,rmw:[4,5],rmw_implement:4,ro:[1,4,5,7,8,19,20,22,27,29,30,31,32,33,34,35,36,37,43],robot:[16,25],ros_discovery_serv:4,ros_ip:31,ros_master_uri:31,rout:4,rplidar:[38,43],rule:31,run_id:43,rviz:43,s:[6,43],same:[16,25],scanner:38,scratch:[16,25],see:43,sequenc:7,seri:6,server:[4,43],servic:4,servo:[39,40,41,42],set_ee_cartesian_trajectori:7,set_ee_pose_compon:7,set_ee_pose_matrix:7,setup:[1,2,33,37],simul:[9,16,28],slam:[16,25],softwar:[33,37],soni:3,sourc:[7,8,18,20],specif:38,spheric:17,ssh:5,stack:[16,25],standard:[33,37],start:0,step:[33,37],stream:17,structur:[9,10,11,12,13,14,15,16,17,18,19,21,22,23,24,26,27,28],stutter:43,synchron:43,t:[3,43],tabl:[6,30,34,38],tag:17,terminolog:7,test:5,textur:17,tilt:38,time:[3,7,16,25],tip:7,topic:43,transfer:17,transform:[7,16,25],trigger:43,troubleshoot:[3,16,17,25,33,37,43],tune:17,turn:[3,5],tutori:[2,7,11,16,17,18,22,26,33],udev:31,us:43,usag:[5,9,10,11,12,13,14,15,16,17,18,19,21,22,23,24,25,26,27,28],usb:17,variabl:[4,31],video:[2,7,11,16,17,18,22,26,33],view:43,vscode:5,w1:38,wait:[16,25],want:43,webserv:43,what:6,when:43,widowx:[41,42],x:[6,17],xml:4,xslocobot_descript:23,y:17,ymr:38,you:43,your:[3,5],zero:17}}) \ No newline at end of file diff --git a/troubleshooting.html b/troubleshooting.html index 5001009..858ed23 100644 --- a/troubleshooting.html +++ b/troubleshooting.html @@ -22,6 +22,7 @@ + @@ -82,6 +83,7 @@

  • Can't see topics published by LoCoBot on remote using ROS 2
  • Create® 3 base stutters or reflexed are triggered when driven
  • Create® 3 base not responding to commands, can't see topics or webserver from LoCoBot computer (ROS 1 or ROS 2)
    • +
  • You want to reset the Create® 3 base's odometry but don't want to power cycle it
  • Less Common Issues
      @@ -191,6 +193,24 @@

      Create® 3 base not responding to commands, can't see topics or webserver fr

    • +
    +

    You want to reset the Create® 3 base's odometry but don't want to power cycle it

    +

    The Create® 3 base's odometry is reset only when it is power cycled. To reset the odometry without +power cycling the base, you can use the ros2 service call command line tool to call the +reset_pose service.

    +
    +

    The ROS 2 distribution and Create® 3 messages workspace must be sources first since the +service is only available in ROS 2.

    +
    $ source /opt/ros/galactic/setup.bash
+$ source ~/create3_ros2_ws/install/setup.bash
+$ ros2 service call /mobile_base/reset_pose irobot_create_msgs/srv/ResetPose {}
+
    +
    +
    +

    Less Common Issues