[Sloved] ROSBot 2.0: Firmware 0.15.0 from git not working

If I flash the 0.15.0 version of the STM32 firmware, it is not working. It outputs after roslaunch rosbot_ekf all.launch:

[INFO] [1647195052.506361]: Protocol version of client is unrecognized, expected Rev 1 (rosserial 0.5+)
[INFO] [1647195052.527464]: wrong checksum for topic id and msg
[INFO] [1647195052.532315]: wrong checksum for msg length, length -32693
[INFO] [1647195052.535987]: chk is 180
[INFO] [1647195052.552119]: wrong checksum for msg length, length 203
[INFO] [1647195052.555936]: chk is 180
[INFO] [1647195052.573755]: wrong checksum for msg length, length -32693
[INFO] [1647195052.577607]: chk is 180
[INFO] [1647195052.594873]: wrong checksum for msg length, length 203

and so on.

Hi matthias,

Sorry for long time of response.

The newest firmware versions correspond to the newest ROS pkgs release. To solve this issue, you just need to use the newest version of package rosbot_ekf. You can also reinstall ROSbot image for newest one which already include new pkgs version and newest firmware :slight_smile:

Best regards,
Hubert

Hi matthias,

Please sen me file /rosbot_ekf/blob/master/launch/rosserial_bridge.launch from your ROSbot just to check if it’s OK. Please confirm also that you replace rosbot_ekf instead of cloning it to another workspace (which probably isn’t source in your .bashrc) and in this case you’re still using the old version of rosbot_ekf (from husarion_ws).

Best regards,
Hubert

Hi Hubert,

it worked: I have now firmware 0.15.0 and the latest ekf running. But some warnings are still visible:

Firmware version: 0.15.0

[INFO] [1648540901.995757]: Detected sensor: BNO055_ADDR_B

[ERROR] [1648540988.536796]: Lost sync with device, restarting…
[ WARN] [1648540988.538112723]: Failed to meet update rate! Took 81.775900186000001213
[ WARN] [1648540988.540830765]: Failed to meet update rate! Took 81.728697561000004157
[INFO] [1648540988.555937]: Requesting topics…
[INFO] [1648540988.588171]: Setup publisher on battery [sensor_msgs/BatteryState]
[INFO] [1648540988.596572]: Setup publisher on pose [geometry_msgs/PoseStamped]
[INFO] [1648540988.604935]: Setup publisher on velocity [geometry_msgs/Twist]
[INFO] [1648540988.613007]: Setup publisher on range/fr [sensor_msgs/Range]
[INFO] [1648540988.620403]: Setup publisher on range/fl [sensor_msgs/Range]
[INFO] [1648540988.627378]: Setup publisher on range/rr [sensor_msgs/Range]
[INFO] [1648540988.634723]: Setup publisher on range/rl [sensor_msgs/Range]
[INFO] [1648540988.641810]: Setup publisher on joint_states [sensor_msgs/JointState]
[INFO] [1648540988.649086]: Setup publisher on imu [sensor_msgs/Imu]
[INFO] [1648540988.656788]: Setup publisher on buttons [std_msgs/UInt8]
[ WARN] [1648540988.680669765]: Transform from imu_link to base_link was unavailable for the time requested. Using latest instead.

[ WARN] [1648540988.782240932]: Failed to meet update rate! Took 0.24257070800000002375
[ WARN] [1648540988.783130515]: Failed to meet update rate! Took 0.19347254100000002563

I will continue my evaluation of ROSbot for my project and will be back here, if I find furtehr problems.

Thank you for your support!!!

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