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
-------------------------------------------------------------
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