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roboteq_ros2_driver package from roboteq_ros2_driver repo

roboteq_ros2_driver

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License TODO: License declaration
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/cjdev99/roboteq_ros2_driver.git
VCS Type git
VCS Version foxy
Last Updated 2024-08-26
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

  • chase

Authors

No additional authors.
README.md

roboteq_ros2_driver

ROS2 driver for the Roboteq SDC21xx, HDC24xx family of motor controllers in a differential-drive configuration. Initially developed for SDC21xx and HDC24xx, but could work with other roboteq dual-channel motor drivers.

Subscribes to cmd_vel, publishes to odom

Does not require any MicroBasic script to operate.

Usage

Clone to src directory of ros2 workspace, then colcon build

Requires serial package, which is not available as deb in ROS2. If not already installed, install ros2 branch of serial:

Get the code:

git clone -b ros2 https://github.com/SunnyApp-Robotics/serial.git

Build:

make

Install:

make install

Sample launch files in roboteq_ros2_driver/launch, or run ros2 run roboteq_ros2_driver roboteq_ros2_driver

Motor Power Connections

This driver assumes right motor is connected to channel 1 (M1) of motor controller, and left motor is connected to channel 2 (M2). It also assumes a positive speed command will result in forward motion of each motor. Best to test motor directions using the roboteq utility software.

TODO

  • Initial ROS2 release with motor commands and odometry stream
  • Implement transform broadcasting with tf2
  • Add roboteq/voltage, roboteq/current, roboteq/energy, and roboteq/temperature publishers
  • Make topic names and frames configuration parameters configurable at runtime.
  • Make robot configuration parameters configurable at runtime.
  • Make motor controller device configuration parameters configurable at runtime.
  • Make miscellaneous motor controller configuration parameters configurable at runtime.
  • Implement dynamically enabled self-test mode to verify correct motor power and encoder connections and configuration.

Note: I do not have access to Roboteq hardware anymore - feel free to contribute!

original work for ROS1

Authors

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
serial
ament_cmake
ament_lint_auto
ament_lint_common
io_context
rclcpp
std_msgs
sensor_msgs
nav_msgs
geometry_msgs
tf2_geometry_msgs
tf2_ros
tf2

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged roboteq_ros2_driver at Robotics Stack Exchange

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