Hi @amontano495,
We test all the products before send them, and we "walk" with the rover.
Can be a hardware issue.
Disconnect all the connections and only connect the motor to the channel 3, use this script. Then change this parameter and try it again:
#!/usr/bin/env python3
import rospy
from std_msgs.msg import String
import time
from mavros_msgs.msg import OverrideRCIn
from mavros_msgs.srv import SetMode
from mavros_msgs.srv import SetMode
# some variables to define the behavior of the robot (hardcoded, modify at your convenience)
throttle_channel=2
steer_channel=0
def autopilot_abstraction(speed='SLOW',direction='STRAIGHT', exec_time=1):
pub = rospy.Publisher('mavros/rc/override', OverrideRCIn, queue_size=10)
r = rospy.Rate(10) #10hz
msg = OverrideRCIn()
start = time.time()
flag=True #time flag
# Abstract the speed of the Rover
if speed =='SLOW':
msg.channels[throttle_channel]=1558
elif speed =='NORMAL':
msg.channels[throttle_channel]=1565
elif speed == 'FAST':
msg.channels[throttle_channel]=1570
# Abstract the direction of the Rover
if direction =='STRAIGHT':
msg.channels[steer_channel]=1500
elif direction =='LEFT':
msg.channels[steer_channel]=1200
elif direction == 'RIGHT':
msg.channels[steer_channel]= 1800
while not rospy.is_shutdown() and flag:
sample_time=time.time()
if ((sample_time - start) > exec_time):
flag=False
rospy.loginfo(msg)
pub.publish(msg)
r.sleep()
if __name__ == '__main__':
rospy.init_node('tryrover_node', anonymous=True)
rospy.wait_for_service('/mavros/set_mode')
change_mode = rospy.ServiceProxy('/mavros/set_mode', SetMode)
answer = change_mode(custom_mode='manual')
print (answer)
if 'True' in str(answer):
try:
autopilot_abstraction('SLOW','RIGHT', 2)
autopilot_abstraction('SLOW','STRAIGHT', 2)
autopilot_abstraction('SLOW','LEFT', 2)
except rospy.ROSInterruptException: pass
Regards,
@LanderU
