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rosbot_hardware_interfaces package from rosbot_hardware_interfaces repo

rosbot_hardware_interfaces

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.0.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/husarion/rosbot_hardware_interfaces.git
VCS Type git
VCS Version main
Last Updated 2024-12-10
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

Hardware controller for rosbot 2 and rosbot XL

Additional Links

No additional links.

Maintainers

  • Maciej Stępień

Authors

  • Krzysztof Wojciechowski
  • Maciej Stępień
README.md

rosbot_hardware_interfaces

The package uses ros2_control to communicate with the ROSbot’s 2R, ROSbot’s 2 PRO and ROSbot’s XL hardware. ROSbots contain micro-ros firmware which provides the encoders and the imu measurements and the motors speed commander.

Subscribes

  • /cmd_vel (geometry_msgs/Twist, /rosbot_base_controller)
  • /_motors_response (sensor_msgs/msg/JointState, /rosbot_system_node)
  • /_imu/data_raw (sensor_msgs/msg/Imu, /imu_sensor_node)

Publishes

  • /imu_broadcaster/imu (sensor_msgs/Imu, /imu_broadcaster)
  • /rosbot_base_controller/odom (nav_msgs/Odometry, /rosbot_base_controller)
  • /_motors_cmd (std_msgs/msg/Float32MultiArray, /rosbot_system_node)

Usage

  1. Add this repository to ros2 workspace
cd src/
git clone https://github.com/husarion/rosbot_hardware_interfaces
  1. Add to the Rosbot description following lines:
<xacro:include filename="$(find rosbot_hardware_interfaces)/urdf/ros2_control.urdf.xacro" />
<xacro:ros2_control_system/>
  1. Configure and launch the controller with the example usage.
ros2 launch rosbot_hardware_interfaces example_diff_drive.launch.py
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.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rosbot_hardware_interfaces at Robotics Stack Exchange

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