u/Ancient-Ad3997

Hi there. Im using aruba instant OS 6.5.4.27, if i enable "wide channel bands: all", and enable 80mhz, it accepts the configuration without a problem

If i, on the other hand, make wide channel only the 5Ghz, with the 80mhz enabled, it says "Error: 80MHZ channels must be allowed on 802.11a band to support 160MHZ". Im not sure where this error comes from, and not even sure if this version supports 160mhz.

I tried to manually select all possible channels available and override ARM settings, but nothing changes, always that error appears. Why does it happen?

Hello there. My institution was doing giveaways and i managed to get a catalyst 9130AXI access point. I changed it to EWC, tested it and it works as it should be. However i have a problem. The switch that im using supports the 30W PoE+ that this AP needs to work, BUT it isnt capable to do LLDP negotiation power on the AP. It is basically an injector. I tested it with a splitter and its maximun capacity per port is 35W before shutting down the port. I've read another post with a similar problem and someone suggested to turn off CDP and USB, but neither of those worked, the AP still sits in MIMO 1x1. Anyone has any idea to fix this or if there is a method to make the AP "think" it has full PoE budget? Right now buying more equipment such as a PoE+ switch or the cisco injector is really difficult and not in mind. Thanks, any help is welcome

Hello. Im working on a differential robot, and for controlling it im using an ESP32, running microros, using the library for arduino code for ease for now. The esp basically does 2 things: 1) Gets cmd_vel to move 2) Sends back ticks to read odometry and correct them. The problem is, while the cmd_vel works great, it recieves fast and instantly, the part of the ticks, no matter what timer i adjust, it wont go below publishing each second the ticks, which for odometry is too slow for corrections. Any idea why is it failing? Any help is welcome, thanks.

```
#include <stdio.h>
#include <rcl/rcl.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>
#include <std_msgs/msg/int32.h>
#include <geometry_msgs/msg/twist.h>
#include <Adafruit_NeoPixel.h>
#include <WiFi.h>
#include <std_msgs/msg/int32_multi_array.h>
#define LEFT_FWD 1
#define LEFT_BWD 2
#define RIGHT_FWD 11
#define RIGHT_BWD 12
#define WHEEL_BASE 0.20
#define ENC_LEFT_A 4
#define ENC_LEFT_B 5
volatile long ticks_left = 0;
Adafruit_NeoPixel debug(1, 48, NEO_GRB + NEO_KHZ800);
char ssid[] = "Aruba";
char password[] = "-";
char IPAddress[] ="192.168.50.229"; //ROCKCHIP
size_t agent_port = 8888;
#define MAX_SPEED 1.0
#define MAX_PWM   255
rcl_publisher_t publisher;
rcl_subscription_t subscriber;
rcl_timer_t timer;
rclc_executor_t executor;
rclc_support_t support;
rcl_allocator_t allocator;
rcl_node_t node;
geometry_msgs__msg__Twist cmd_msg;
std_msgs__msg__Int32MultiArray msg_pub;
int32_t somecounter = 0;
unsigned long last_cmd_time = 0;
void IRAM_ATTR encoder_left_isr(){if (digitalRead(ENC_LEFT_B) == HIGH) {ticks_left++;} 
                                  else {ticks_left--;}}//ATRIB-RAM SPECIFIED ENCODE
long get_left_ticks() {
  long value;
  noInterrupts();
  value = ticks_left;
  interrupts();
  return value;
}
void stop_motors() {
  analogWrite(LEFT_FWD, 0);analogWrite(LEFT_BWD, 0);
  analogWrite(RIGHT_FWD, 0);analogWrite(RIGHT_BWD, 0);
}
void set_motor(float left, float right) {
  float left_norm  = left  / MAX_SPEED;
  float right_norm = right / MAX_SPEED;
  left_norm  = constrain(left_norm,  -1.0, 1.0);
  right_norm = constrain(right_norm, -1.0, 1.0);
  int left_pwm  = abs(left_norm)  * MAX_PWM;
  int right_pwm = abs(right_norm) * MAX_PWM;
  if (left_norm > 0) {analogWrite(LEFT_FWD, left_pwm);analogWrite(LEFT_BWD, 0);} 
  else if (left_norm < 0) {analogWrite(LEFT_FWD, 0);analogWrite(LEFT_BWD, left_pwm);} 
  else {analogWrite(LEFT_FWD, 0);analogWrite(LEFT_BWD, 0);}
  if (right_norm > 0) {analogWrite(RIGHT_FWD, right_pwm);analogWrite(RIGHT_BWD, 0);} 
  else if (right_norm < 0) {analogWrite(RIGHT_FWD, 0);analogWrite(RIGHT_BWD, right_pwm);} 
  else {analogWrite(RIGHT_FWD, 0);analogWrite(RIGHT_BWD, 0);}
}
void cmd_vel_callback(const void * msgin) {
  const geometry_msgs__msg__Twist * msg = (const geometry_msgs__msg__Twist *)msgin;
  float linear = msg->linear.x;
  float angular = msg->angular.z;
  float left  = linear - (angular * WHEEL_BASE / 2.0);
  float right = linear + (angular * WHEEL_BASE / 2.0);
  set_motor(left, right);
  last_cmd_time = millis();
  debug.setPixelColor(0, debug.Color(0, 0, 255));
  debug.show();
}


void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
{
  (void) last_call_time;


  if (timer != NULL) {
    msg_pub.data.data[0] = get_left_ticks();   //BYPASS_02
    msg_pub.data.data[1] = 0;            //WAITER (RUEDA2)


    rcl_publish(&publisher, &msg_pub, NULL);
  }
}


void setup() {
  debug.begin();
  debug.clear();
  debug.setPixelColor(0, debug.Color(255, 0, 0));
  debug.show();
  pinMode(ENC_LEFT_A, INPUT_PULLUP);
  pinMode(ENC_LEFT_B, INPUT_PULLUP);
  attachInterrupt(digitalPinToInterrupt(ENC_LEFT_A), encoder_left_isr, RISING);
  msg_pub.data.data = (int32_t*) malloc(2 * sizeof(int32_t));
  msg_pub.data.size = 2;
  msg_pub.data.capacity = 2;
  //WiFi.begin(ssid, password);
  //while (WiFi.status() != WL_CONNECTED) {delay(500); debug.setPixelColor(0, debug.Color(196, 0, 255));debug.show();}
  //set_microros_wifi_transports(ssid, password, IPAddress, agent_port); //WIFI
  set_microros_transports(); //USB-UART (TX/RX00)
  delay(2000);
  allocator = rcl_get_default_allocator();
  rclc_support_init(&support, 0, NULL, &allocator);
  rclc_node_init_default(&node, "ESP32S3MAIN", "", &support);
  rclc_publisher_init_default(
    &publisher,
    &node,
    ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32MultiArray),
    "encoder"
  );
  rclc_subscription_init_default(
    &subscriber,
    &node,
    ROSIDL_GET_MSG_TYPE_SUPPORT(geometry_msgs, msg, Twist),
    "cmd_vel"
  );
  rclc_timer_init_default(
    &timer,
    &support,
    RCL_MS_TO_NS(50),
    timer_callback
  );
  rclc_executor_init(&executor, &support.context, 2, &allocator);
  rclc_executor_add_subscription(
    &executor,
    &subscriber,
    &cmd_msg,
    &cmd_vel_callback,
    ON_NEW_DATA
  );
  rclc_executor_add_timer(&executor, &timer);
}


void loop() {rclc_executor_spin_some(&executor, RCL_MS_TO_NS(1));
  if (millis() - last_cmd_time > 500) {
    stop_motors();
    debug.setPixelColor(0, debug.Color(255, 255, 0));
    debug.show();
  }delay(10);}```

Hello. Im working on a differential robot, and for controlling it im using an ESP32, running microros, using the library for arduino code for ease for now. The esp basically does 2 things: 1) Gets cmd_vel to move 2) Sends back ticks to read odometry and correct them. The problem is, while the cmd_vel works great, it recieves fast and instantly, the part of the ticks, no matter what timer i adjust, it wont go below publishing each second the ticks, which for odometry is too slow for corrections. Any idea why is it failing? Any help is welcome, thanks.

#include <micro_ros_arduino.h>
#include <stdio.h>
#include <rcl/rcl.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>
#include <std_msgs/msg/int32.h>
#include <geometry_msgs/msg/twist.h>
#include <Adafruit_NeoPixel.h>
#include <WiFi.h>
#include <std_msgs/msg/int32_multi_array.h>
#define LEFT_FWD 1
#define LEFT_BWD 2
#define RIGHT_FWD 11
#define RIGHT_BWD 12
#define WHEEL_BASE 0.20
#define ENC_LEFT_A 4
#define ENC_LEFT_B 5
volatile long ticks_left = 0;
Adafruit_NeoPixel debug(1, 48, NEO_GRB + NEO_KHZ800);
char ssid[] = "Aruba";
char password[] = "-";
char IPAddress[] ="192.168.50.229"; //ROCKCHIP
size_t agent_port = 8888;
#define MAX_SPEED 1.0
#define MAX_PWM   255
rcl_publisher_t publisher;
rcl_subscription_t subscriber;
rcl_timer_t timer;
rclc_executor_t executor;
rclc_support_t support;
rcl_allocator_t allocator;
rcl_node_t node;
geometry_msgs__msg__Twist cmd_msg;
std_msgs__msg__Int32MultiArray msg_pub;
int32_t somecounter = 0;
unsigned long last_cmd_time = 0;
void IRAM_ATTR encoder_left_isr(){if (digitalRead(ENC_LEFT_B) == HIGH) {ticks_left++;} 
                                  else {ticks_left--;}}//ATRIB-RAM SPECIFIED ENCODE
long get_left_ticks() {
  long value;
  noInterrupts();
  value = ticks_left;
  interrupts();
  return value;
}
void stop_motors() {
  analogWrite(LEFT_FWD, 0);analogWrite(LEFT_BWD, 0);
  analogWrite(RIGHT_FWD, 0);analogWrite(RIGHT_BWD, 0);
}
void set_motor(float left, float right) {
  float left_norm  = left  / MAX_SPEED;
  float right_norm = right / MAX_SPEED;
  left_norm  = constrain(left_norm,  -1.0, 1.0);
  right_norm = constrain(right_norm, -1.0, 1.0);
  int left_pwm  = abs(left_norm)  * MAX_PWM;
  int right_pwm = abs(right_norm) * MAX_PWM;
  if (left_norm > 0) {analogWrite(LEFT_FWD, left_pwm);analogWrite(LEFT_BWD, 0);} 
  else if (left_norm < 0) {analogWrite(LEFT_FWD, 0);analogWrite(LEFT_BWD, left_pwm);} 
  else {analogWrite(LEFT_FWD, 0);analogWrite(LEFT_BWD, 0);}
  if (right_norm > 0) {analogWrite(RIGHT_FWD, right_pwm);analogWrite(RIGHT_BWD, 0);} 
  else if (right_norm < 0) {analogWrite(RIGHT_FWD, 0);analogWrite(RIGHT_BWD, right_pwm);} 
  else {analogWrite(RIGHT_FWD, 0);analogWrite(RIGHT_BWD, 0);}
}
void cmd_vel_callback(const void * msgin) {
  const geometry_msgs__msg__Twist * msg = (const geometry_msgs__msg__Twist *)msgin;
  float linear = msg->linear.x;
  float angular = msg->angular.z;
  float left  = linear - (angular * WHEEL_BASE / 2.0);
  float right = linear + (angular * WHEEL_BASE / 2.0);
  set_motor(left, right);
  last_cmd_time = millis();
  debug.setPixelColor(0, debug.Color(0, 0, 255));
  debug.show();
}


void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
{
  (void) last_call_time;


  if (timer != NULL) {
    msg_pub.data.data[0] = get_left_ticks();   //BYPASS_02
    msg_pub.data.data[1] = 0;            //WAITER (RUEDA2)


    rcl_publish(&publisher, &msg_pub, NULL);
  }
}


void setup() {
  debug.begin();
  debug.clear();
  debug.setPixelColor(0, debug.Color(255, 0, 0));
  debug.show();
  pinMode(ENC_LEFT_A, INPUT_PULLUP);
  pinMode(ENC_LEFT_B, INPUT_PULLUP);
  attachInterrupt(digitalPinToInterrupt(ENC_LEFT_A), encoder_left_isr, RISING);
  msg_pub.data.data = (int32_t*) malloc(2 * sizeof(int32_t));
  msg_pub.data.size = 2;
  msg_pub.data.capacity = 2;
  //WiFi.begin(ssid, password);
  //while (WiFi.status() != WL_CONNECTED) {delay(500); debug.setPixelColor(0, debug.Color(196, 0, 255));debug.show();}
  //set_microros_wifi_transports(ssid, password, IPAddress, agent_port); //WIFI
  set_microros_transports(); //USB-UART (TX/RX00)
  delay(2000);
  allocator = rcl_get_default_allocator();
  rclc_support_init(&support, 0, NULL, &allocator);
  rclc_node_init_default(&node, "ESP32S3MAIN", "", &support);
  rclc_publisher_init_default(
    &publisher,
    &node,
    ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32MultiArray),
    "encoder"
  );
  rclc_subscription_init_default(
    &subscriber,
    &node,
    ROSIDL_GET_MSG_TYPE_SUPPORT(geometry_msgs, msg, Twist),
    "cmd_vel"
  );
  rclc_timer_init_default(
    &timer,
    &support,
    RCL_MS_TO_NS(50),
    timer_callback
  );
  rclc_executor_init(&executor, &support.context, 2, &allocator);
  rclc_executor_add_subscription(
    &executor,
    &subscriber,
    &cmd_msg,
    &cmd_vel_callback,
    ON_NEW_DATA
  );
  rclc_executor_add_timer(&executor, &timer);
}


void loop() {rclc_executor_spin_some(&executor, RCL_MS_TO_NS(1));
  if (millis() - last_cmd_time > 500) {
    stop_motors();
    debug.setPixelColor(0, debug.Color(255, 255, 0));
    debug.show();
  }delay(10);}