Package Description:

This is a ROS2 package for DC Servo Motor. Please refer the datasheet of the motor which is included in the package before proceeding further. This package uses serial communication to control the motor. It requires a USB-to-UART converter to interface the motor with a computer.

servo_control package contains 6 files.

1. config/servo_settings.yaml
2. scripts/servo_driver.py
3. scripts/servo_ros2_interface.py
4. scripts/init.py
5. CMakeLists.txt
6. package.xml

Description:

1. config/servo_settings.yaml: This is configuration file for servo motor communication.

   Inputs: It takes servo motor serial port name and motor rpm speed (0-255)

2. scripts/servo_driver.py: It decodes upper level serial commands and arrange it in UART format to send on USB-UART.

   Inputs: Inputs from servo_ros2_interface.py and send it over to USB-UART communication cable.

3. scripts/scripts/servo_ros2_interface.py: It consists servo motor control services and topics. Main used for Open and CLose Gripper actions.

   Inputs: Acts as client for other packages.

4. scripts/__init__.py: Making files into python modules.

5. CMakeLists.txt: List down all necessary dependant packages and other directories/files of nindamani_agri_robot package.

6. package.xml: Includes dependent build in this file.

Note: To get better understanding on CMakeLists.txt and package.xml files refer cmakeliststxt-vs-packagexml.