Dear mybotshop-Team,
I’m currently struggling to get the H1-2 working except from remote control.
I already installed the latest version of qre_h1 from the humble branch of your repository on the H1, following the instructions stated in the read.me. But I’m still not able to get the robot moving with the given examples.
Maybe I’m missing a crucial step and you can help me quickly.
My start-up procedure so far:
- Boot the robot and set to Development mode (L2 + R2)
- Connect via SSH to the robot (both, directly and via network works)
- Start the services h1-highlevel-ros-controller, h1-domain-bridge, h1-twist-mux, h1-description, h1-state-publisher, h1-kiss-odom via sudo service “service name” start (In older guides there is a launch file system.launch.py mentioned but this is not at git anymore)
- For trying the arm example, I then launch the h1_2_arm_record.launch.py in the ROS_DOMAIN_ID=10. I didn’t change the .yaml-file, are there changes needed and if so, which?
- In a second terminal I call for the ready pose: ROS_DOMAIN_ID=10 ros2 action send_goal /h1_unit_1789/dual_arm/follow_joint_trajectory control_msgs/action/FollowJointTrajectory
“{trajectory:
{joint_names: [
left_shoulder_pitch, left_shoulder_roll, left_shoulder_yaw, left_elbow,
left_wrist_roll, left_wrist_pitch, left_wrist_yaw,
right_shoulder_pitch, right_shoulder_roll, right_shoulder_yaw, right_elbow,
right_wrist_roll, right_wrist_pitch, right_wrist_yaw],
points: [
{positions: [0.0, 0.3, 0.0, 0.7, 0.0, 0.0, 0.0,
0.0,-0.3, 0.0, 0.7, 0.0, 0.0, 0.0],
time_from_start: {sec: 2, nanosec: 0}},
]}}”
I changed h1_unit_1789 to h1_unit_238 - The trajectory is then executed successfully in the terminal, but the robot doesn’t move.
- For the teleop command I use the given command (ROS_DOMAIN_ID=10 ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/h1_unit_238/cmd_vel) as well, but no movement happens.