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