Linda's mileage

[gestom]

Lindas mileage topic does not seem to work correctly during the last few days. Although her patrol runs are approximately 30m long, it's mileage topic increases only by ~10m each run. The topic was OK until Thu Nov 14 12:14:29.

[cburbridge]

I've not seen it here. What is the robots dosimetry reading like? Has that also gone bad?

[Jailander]

Hi yes odometry is working perfectly, we don't know where the problem may come from, I can only tell you that it happened right after updating Linda.

[marc-hanheide]

I just found this commit: 332833f which I find very suspicious, because our mileage is about 5 times less than it should be...

[cburbridge]

This was a while ago, and did not effect it then. However, this file is the only way I can see something us doing being able to effect the mileage. It is simply a MIRA channel which I publish out as a ROS topic, and I guess it is calculated in firmware. Did you update MIRA recently? (is there even a newer version that ours?)

[cdondrup]

@marc-hanheide the odometry changing pull request you mentioned was tested on Linda for a few weeks before we merged it into the master. So I don't think that this has anything to do with it. Otherwise we would have noticed.

[Jailander]

No we haven't update MIRA in a while. But you are right @cdondrup tried that commit a while ago and there didn't seem to be any problem.

[marc-hanheide]

Could this be related to us setting the force on the robot, e.g. a side effect or an implementation bug? Was it about the time we implemented the ramp behavior?

[marc-hanheide]

@chmartin21 have you got any other idea what could cause the mileage to be screwed up on the robot. We just publish the mileage as reported by MIRA, can we easily check something?

[chmartin21]

Can you have check the property "MainControlUnit.TotalMileage" of the authority Robot?

[Jailander]

Hi, @cburbridge and @chmartin21 Can you tell me how to get this I had never worked with MIRA before.

What I have tried so far is running miracenter then open the RPC console, my original intention was to run /robot/Robot#builtin.getProperty("MainControlUnit.TotalMileage") but TAB was not working for this so by doing TAB I got to run this

I suppose my problem is not running the Miracenter under the correct authority, but I don’t know how to do this, can you help me?

[chmartin21]

You have to start miracenter with a configuration, which contains at least the driver for the SCITOS. For example, you can use /opt/MIRA-commercial/domains/robot/SCITOS/etc/SCITOSDriver.xml.

[Jailander]

hi @chmartin21 that seems to work better but now I get this

Enter your RPC calls or type 'help' for more information.

/robot/Robot#builtin.getProperty("Modules.MainControlUnit.TotalMileage")
The property 'Modules.MainControlUnit.TotalMileage' could not be found in '/robot/Robot' (/home/chmartin/release/MIRA/framework/src/fw/Authority.C:740)
/robot/Robot#builtin.getProperty("MainControlUnit.TotalMileage")
The property 'MainControlUnit.TotalMileage' could not be found in '/robot/Robot' (/home/chmartin/release/MIRA/framework/src/fw/Authority.C:740)
/robot/Robot#builtin.getProperties
{
"Root" : {
"Children" : [
{
"Children" : [ ],
"Comment" : "Timeout for removing dead modules",
"Hint" : [ ],
"ID" : "DeadModuleTimeout",
"IsReadOnly" : false,
"Name" : "DeadModuleTimeout",
"Type" : "mira::Duration"
}
],
"Comment" : "",
"Hint" : [ ],
"ID" : "/robot/Robot",
"IsReadOnly" : false,
"Name" : "/robot/Robot",
"Type" : "mira::MicroUnit*"
}
}

Any Ideas?

[chmartin21]

Looks not good: The SCITOS driver seems not be able to detect any module of the robot. I assume, that you are getting some error messages on the console. Or at least the robot authority is not green in the AuthorityView. Probably the driver tries to use the wrong CAN bus interface. The SCITOSDriver.xml assumes, that you have create a SCITOSRobotAttributes.xml file (http://www.mira-project.org/MIRA-doc/domains/robot/SCITOS/index.html#SCITOSConfiguration_Section). You also can specify the CAN bus interface at the command line:

miracenter ..../SCITOSDriver.xml --variables canType=MLCAN.

[Jailander]

Hi yes I didn't realise I was getting this error when launching the miracenter.

[ERROR ] 2013-Nov-21 12:27:39.720789 /robot/can/CANDriver Exception while invoking Runnable: Permission denied
[ERROR ] 2013-Nov-21 12:27:39.721155 Exception:
[boost::exception_detail::clone_implboost::exception_detail::error_info_injectorboost::system::system_error] Permission denied

however the SCITOSRobotAttributes.xml file seems to be fine and I also tried

miracenter ..../SCITOSDriver.xml --variables canType=MLCAN.

but I get the same error

[chmartin21]

The MLCAN uses /dev/ttyUSB2. To access this device, the user must belong to the group dialout. Does your user account have read permission on /dev/ttyUSB* ?