Can't Make the Motors Move XDC2430

[raghavthakar]

Hello,

I am using an XDC2430 with firmware v2.1. I have this repository setup on my system, with the motor controller connected via USB to /dev/ttyACM0.

I have configured the controller in Roborun+ as Closed Loop Speed, and was able to control the motor in the run tab through the sliders between -255 and 255.

However, when I try to control the motors through ROS, I am unable to see any movement. I am publishing to /cmd_vel with a velocity of 2 m/s in the x direction. I get the following output in the terminal running driver.launch:

roslaunch roboteq_motor_controller_driver driver.launch

SUMMARY
========

PARAMETERS
 * /baud: 115200
 * /frequencyH: 50
 * /port: /dev/ttyACM0
 * /queryH/battery_amps: ?BA
 * /queryH/fault_flag: ?FF
 * /queryH/feedback: ?F
 * /queryH/hall_count: ?Cb
 * /queryH/hall_speed: ?BS
 * /queryH/motor_amps: ?A
 * /queryH/motor_command: ?M
 * /queryH/power: ?P
 * /queryH/volts: ?V
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES
  /
    roboteq_motor_controller_driver (roboteq_motor_controller_driver/roboteq_motor_controller_driver_node)

auto-starting new master
process[master]: started with pid [15397]
ROS_MASTER_URI=http://XXX.XXX.XX.XXX:XXXX

setting /run_id to 48d68aee-f26d-11ec-94e6-181deac4e7f3
process[rosout-1]: started with pid [15408]
started core service [/rosout]
process[roboteq_motor_controller_driver-2]: started with pid [15415]
[ INFO] [1655931173.595608264]: Serial Port initialized"
[ INFO] [1655931222.803060523]: !G 1 2_!G 2 0_

The last line was a result of publishing 2 m/s on /cmd_vel.

The Power and Bus LEDs on the controller are green, but the USB LED is a pale orange (not red).

Any idea what the issue may be? Thanks!