Yeah, i need to fix that combination. My robotic's cape is at work,
and i'm at home today with the furnace guys over..
Regards,
On Mon, Nov 27, 2017 at 10:00 AM, Louis L. Whitcomb <l...@jhu.edu> wrote:
> Dear Robert and Jason:
>
> I am trying to work out the details getting the EduMIP running with ROS
> under Ubuntu 16.04 on the Beaglebone Blue and also the Beaglebone Black
> wireleess+ Robotics Cape, and hope you may office some pointers. I have the
> latest version of roboticscape installed ("sudo apt-get install
> roboticscape").
>
> ubuntu@arm:~$ sudo apt-get install roboticscape
> [sudo] password for ubuntu:
> Reading package lists... Done
> Building dependency tree
> Reading state information... Done
> roboticscape is already the newest version
> (0.3.4-git20170602-0rcnee4~xenial+20171108).
> 0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.
>
> Here are my 2 quesions:
>
> 1. On the Beaglebone Blue under Ubuntu 16.04, when you run a rc_xxx program
> it reports the error "ERROR: pru-rproc driver missing", but then runs
> normally. Example:
>
> ubuntu@arm:~$ rc_balance
> ERROR: pru-rproc driver missing
> Inner Loop controller D1:
>
> So far I have been ignoring this message.
>
> Question: any thoughts?
>
>
>
> 2. On the Beaglebone Black wireless + robotics cape, under Ubuntu 16.04,
> when you run rc_xxx program it reports numerous startup errors. Some
> programs such as rc_check_battery run normally after printing numerous
> errors. Other programs such as rc_balance print a continuous stram of
> "ERROR: uart4 must be initialized first" and fail to operate properly,
> perhaps due to the stream of "ERROR: uart4 must be initialized first"
> messages (see below).
>
> The warning messages for rc_balance begin with this (longer transcript at
> the end of this email)
>
> ubuntu@arm:~$ rc_balance
> WARNING: RoboticsCape library should only be run on BB Blue, Black, and
> Black wireless when the roboticscape device tree is in use.
> If you are on a BB Black or Black Wireless, please execute
> "configure_robotics_dt.sh" and reboot to enable the device tree
> can't open: /sys/devices/platform/ocp/ocp:P9_28_pinmux/state
> Pinmux: No such file or directory
> can't open: /sys/devices/platform/ocp/ocp:P9_23_pinmux/state
> Pinmux: No such file or directory
> can't open: /sys/devices/platform/ocp/ocp:P9_11_pinmux/state
> Pinmux: No such file or directory
>
> So I ran Robotics_Cape_Installer/device_tree$ sudo
> ./configure_robotics_dt.sh, but configure_robotics_dt.sh appears to only
> support Debian:
>
> ubuntu@arm:~/Robotics_Cape_Installer/device_tree$ sudo
> ./configure_robotics_dt.sh
> ERROR: This is not Debian Jessie.
> Flash the latest Jessie image to your BBB
> or use the Wheezy branch of this installer.
> ubuntu@arm:~/Robotics_Cape_Installer/device_tree$
>
>
> Question: Do you have suggestions on how to fix this?
>
> Thanks and Best Regards,
>
> -Louis
>
>
>
> ubuntu@arm:~$ rc_balance
> WARNING: RoboticsCape library should only be run on BB Blue, Black, and
> Black wireless when the roboticscape device tree is in use.
> If you are on a BB Black or Black Wireless, please execute
> "configure_robotics_dt.sh" and reboot to enable the device tree
> can't open: /sys/devices/platform/ocp/ocp:P9_28_pinmux/state
> Pinmux: No such file or directory
> can't open: /sys/devices/platform/ocp/ocp:P9_23_pinmux/state
> Pinmux: No such file or directory
> can't open: /sys/devices/platform/ocp/ocp:P9_11_pinmux/state
> Pinmux: No such file or directory
> can't open: /sys/devices/platform/ocp/ocp:P9_22_pinmux/state
> Pinmux: No such file or directory
> can't open: /sys/devices/platform/ocp/ocp:P9_21_pinmux/state
> Pinmux: No such file or directory
> can't open: /sys/devices/platform/ocp/ocp:P9_26_pinmux/state
> Pinmux: No such file or directory
> can't open: /sys/devices/platform/ocp/ocp:P9_24_pinmux/state
> Pinmux: No such file or directory
> can't open: /sys/devices/platform/ocp/ocp:P9_30_pinmux/state
> Pinmux: No such file or directory
> can't open: /sys/devices/platform/ocp/ocp:P9_29_pinmux/state
> Pinmux: No such file or directory
> can't open: /sys/devices/platform/ocp/ocp:P9_31_pinmux/state
> Pinmux: No such file or directory
> WARNING: missing PINMUX driver
> You probbaly just need a newer kernel
> ERROR: ti-eqep driver not loaded for eqep0
> WARNING: failed to initialize eQEP0
> ERROR: ti-eqep driver not loaded for eqep1
> WARNING: failed to initialize eQEP1
> ERROR: ti-eqep driver not loaded for eqep2
> WARNING: failed to initialize eQEP2
> ERROR: ti-pwm driver not loaded for pwm subsystem 1
> ERROR: failed to initialize hrpwm1
> WARNING: Failed to initialize motors
> ERROR: pru-rproc driver missing
> Inner Loop controller D1:
> order: 2
> timestep dt: 0.0100
> -4.9450z² + 8.8620z + -3.9670
> --------------------------------
> 1.0000z² + -1.4810z + 0.4812
>
> Outer Loop controller D2:
> order: 2
> timestep dt: 0.0100
> 0.1886z² + -0.3721z + 0.1835
> --------------------------------
> 1.0000z² + -1.8605z + 0.8605
>
> Hold your MIP upright to begin balancing
>
> dsm Calibration File Doesn't Exist Yet
> Run calibrate_dsm example to create one
> Using default values for now
> can't open: /sys/devices/platform/ocp/ocp:P9_11_pinmux/state
> Pinmux: No such file or directory
> error opening uart4 in /dev/
> device tree probably isn't loaded
> Error, failed to initialize UART4 for dsm
> ERROR: trying to disable motors before they have been initialized
> ERROR: uart4 must be initialized first
>
> RUNNING: Hold upright to balance.
> θ | θ_ref | φ | φ_ref | γ | D1_u | D3_u | vBatt
> |arm_state|
> 0.000 | 0.000 | 0.000 | 0.000 | 0.000 | 0.000 | 0.000 | 8.449
> |DISARMED |ERROR: uart4 must be initialized first
> ERROR: uart4 must be initialized first
> ERROR: uart4 must be initialized first
> ERROR: uart4 must be initialized first
> ERROR: uart4 must be initialized first
> ERROR: uart4 must be initialized first
> ERROR: uart4 must be initialized first
> ERROR: uart4 must be initialized first
> ERROR: uart4 must be initialized first
> 0.000 | 0.000 | 0.000 | 0.000 | 0.000 | 0.000 | 0.000 | 8.449
> |DISARMED |ERROR: uart4 must be initialized first
> ERROR: uart4 must be initialized first
> ERROR: uart4 must be initialized first
> ERROR: uart4 must be initialized first
>
>
>
>
> ubuntu@arm:~/Robotics_Cape_Installer/device_tree$ rc_check_battery
> can't open: /sys/devices/platform/ocp/ocp:P9_28_pinmux/state
> Pinmux: No such file or directory
> can't open: /sys/devices/platform/ocp/ocp:P9_23_pinmux/state
> Pinmux: No such file or directory
> can't open: /sys/devices/platform/ocp/ocp:P9_11_pinmux/state
> Pinmux: No such file or directory
> can't open: /sys/devices/platform/ocp/ocp:P9_22_pinmux/state
> Pinmux: No such file or directory
> can't open: /sys/devices/platform/ocp/ocp:P9_21_pinmux/state
> Pinmux: No such file or directory
> can't open: /sys/devices/platform/ocp/ocp:P9_26_pinmux/state
> Pinmux: No such file or directory
> can't open: /sys/devices/platform/ocp/ocp:P9_24_pinmux/state
> Pinmux: No such file or directory
> can't open: /sys/devices/platform/ocp/ocp:P9_30_pinmux/state
> Pinmux: No such file or directory
> can't open: /sys/devices/platform/ocp/ocp:P9_29_pinmux/state
> Pinmux: No such file or directory
> can't open: /sys/devices/platform/ocp/ocp:P9_31_pinmux/state
> Pinmux: No such file or directory
> WARNING: missing PINMUX driver
> You probbaly just need a newer kernel
> ERROR: ti-eqep driver not loaded for eqep0
> WARNING: failed to initialize eQEP0
> ERROR: ti-eqep driver not loaded for eqep1
> WARNING: failed to initialize eQEP1
> ERROR: ti-eqep driver not loaded for eqep2
> WARNING: failed to initialize eQEP2
> ERROR: ti-pwm driver not loaded for pwm subsystem 1
> ERROR: failed to initialize hrpwm1
> WARNING: Failed to initialize motors
> ERROR: pru-rproc driver missing
> Pack: 8.42V Cell: 4.21V DC Jack: 0.00V ^C
>
>
>
> --
> -------------------------------------------------------------
> Louis L. Whitcomb, Ph.D.
> Professor, Department of Mechanical Engineering
> 115 Hackerman Hall, 3400 N. Charles Street
> Johns Hopkins University, Baltimore, MD, 21218-2681
> l...@jhu.edu, 410-516-6724, dscl.me.jhu.edu
> -------------------------------------------------------------
--
Robert Nelson
https://rcn-ee.com/
--
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