/rosserial_encoder_motor

Primary LanguageCMake

rosserial_encoder_motor

Control two motors using rosserial with custom message.

Things used :

  • Arduino Mega
  • motors with encoders
  • L298N
  • Power Source
  • External computer ( with ROS Installed )

Connections for individual motor :

  1. M1 and M2 are Motor power wires. Connect them to L298N output.
  • Motor 1 to OUT1 (red) , OUT2 (white).
  • Motor 2 to OUT4 (red) , OUT3 (white).

  1. GND and 3.3V wires are to power the encoder. Connect them to the Arduino.

  2. C1 and C2 are channel wires for encoder outputs.

  • Motor 1 : C1 - Pin 14 , C2 - Pin 15
  • Motor 2 : C1 - Pin 16, C2 - Pin 17
  1. L298N ENA to Pin 5 and ENB to Pin 10.
  • IN1 to Pin 6
  • IN2 to Pin 7
  • IN3 to Pin 8
  • IN4 to Pin 9

Do not forget to make the ground common of Arduino and L298N.

Running one motor

Copy Encoder Library to Arduino Libraries : Open terminal :

cd ~/Arduino_Encoder_Motors
mv Encoder /home/user/Documents/arduino-1.8.7/libraries/

Add ROS Serial

In a new terminal :

git clone " add url here "
cd catkin_ws/
catkin_make
  • Follow the installation steps : here
  • If already installed then just type these :
rm -r ~/Arduino/libraries/ros_lib
rosrun rosserial_arduino make_libraries.py /home/yug/Arduino/libraries/

Run the motors

Upload the code "Run" to Ardunio Mega.

roscore
rosrun rosserial_python serial_node.py /dev/ttyUSB0
rostopic pub /control_motor rosserial_encoder_motor/motor "direction: 70
speed: 250
name: 1"
  • Direction :
    • Forward : 70
    • Backward : 66
  • Speed : 0 to 255
  • Name : 1 or 2