robohwlee / motor_sbl2360t

motor contorl using roboteq driver

roboteq_diff_driver

ROS driver for the Roboteq SDC21xx family of motor controllers in a differential-drive configuration.

Subscribes to cmd_vel, publishes to odom, and broadcasts odom tf.

Also publishes sensor data to some ancillary topics including roboteq/voltage, roboteq/current, roboteq/energy, and roboteq/temperature.

Does not require any MicroBasic script to operate.

Usage

Clone to src directory of catkin workspace, then catkin_make.

Requires ROS serial package. If not already installed:

sudo apt-get install ros-<distro>-serial

Sample launch files in roboteq_diff_driver/launch.

roslaunch roboteq_diff_driver driver.launch

User Input (cmd_vel topic publisher)

You can use any type of publisher as an input of motor controller This driver subscribe /cmd_vel topic as an iput

teleop keyboard node

Install the package

sudo apt-get install ros-<distro>-teleop-twist-keyboard

Run

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Terminal

rostopic pub /cmd_vel geometry_msgs/Twist -r 20 '[1, 0, 0]' '[0, 0, 5]'

publish topic as linear velocity / angular velocity

configuration of motor

check the roboteq_diff_driver/launch/driver.launch especially for 'wheel_circumference', 'track_width', 'encoder_ppr', 'encoder_cpr' etc.

Authors

• Chad Attermann - Initial work - Ecos Technologies

License

This project is licensed under the BSD License.