roboteq_ros2_driver repository

driver ros ros2 roboteq roboteq-motor-controllers roboteq-control ros2-foxy

roboteq_ros2_driver repository

driver ros ros2 roboteq roboteq-motor-controllers roboteq-control ros2-foxy

roboteq_ros2_driver repository

driver ros ros2 roboteq roboteq-motor-controllers roboteq-control ros2-foxy

roboteq_ros2_driver repository

driver ros ros2 roboteq roboteq-motor-controllers roboteq-control ros2-foxy roboteq_ros2_driver

Repository Summary

Description ROS2 driver for Roboteq HDC2460 motor driver - Includes diff drive motor commands from /cmd_vel and odometry publishing from encoder streams. Compatible with Foxy and Humble.
Checkout URI https://github.com/cjdev99/roboteq_ros2_driver.git
VCS Type git
VCS Version foxy
Last Updated 2024-08-26
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags driver ros ros2 roboteq roboteq-motor-controllers roboteq-control ros2-foxy
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
roboteq_ros2_driver 0.0.0

README

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

CONTRIBUTING

No CONTRIBUTING.md found.

roboteq_ros2_driver repository

driver ros ros2 roboteq roboteq-motor-controllers roboteq-control ros2-foxy

roboteq_ros2_driver repository

driver ros ros2 roboteq roboteq-motor-controllers roboteq-control ros2-foxy

roboteq_ros2_driver repository

driver ros ros2 roboteq roboteq-motor-controllers roboteq-control ros2-foxy

roboteq_ros2_driver repository

driver ros ros2 roboteq roboteq-motor-controllers roboteq-control ros2-foxy

roboteq_ros2_driver repository

driver ros ros2 roboteq roboteq-motor-controllers roboteq-control ros2-foxy

roboteq_ros2_driver repository

driver ros ros2 roboteq roboteq-motor-controllers roboteq-control ros2-foxy

roboteq_ros2_driver repository

driver ros ros2 roboteq roboteq-motor-controllers roboteq-control ros2-foxy

roboteq_ros2_driver repository

driver ros ros2 roboteq roboteq-motor-controllers roboteq-control ros2-foxy

roboteq_ros2_driver repository

driver ros ros2 roboteq roboteq-motor-controllers roboteq-control ros2-foxy

roboteq_ros2_driver repository

driver ros ros2 roboteq roboteq-motor-controllers roboteq-control ros2-foxy

roboteq_ros2_driver repository

driver ros ros2 roboteq roboteq-motor-controllers roboteq-control ros2-foxy

roboteq_ros2_driver repository

driver ros ros2 roboteq roboteq-motor-controllers roboteq-control ros2-foxy

roboteq_ros2_driver repository

driver ros ros2 roboteq roboteq-motor-controllers roboteq-control ros2-foxy

roboteq_ros2_driver repository

driver ros ros2 roboteq roboteq-motor-controllers roboteq-control ros2-foxy

roboteq_ros2_driver repository

driver ros ros2 roboteq roboteq-motor-controllers roboteq-control ros2-foxy