Roboclaw is an extensible series of Roboclaw nodes for ROS
- The base node "roboclaw_node" supports up to 8 Roboclaw controllers using packet serial mode
- Drive systems and odometry are decoupled from the base Roboclaw node
- A differential drive node is supported out of the box
- Written in roscpp for effecient memory usage and performance
- ROS Kinetic/Lunar/Melodic
| Param |
Type |
Description |
| serial_port |
string |
Path to the serial port to use |
| baudrate |
int |
Baudrate of the serial port |
| roboclaws |
int |
Number of Roboclaw controllers in packet serial mode |
| Action |
Topic |
Type |
| publish |
motor_enc_steps |
roboclaw/RoboclawEncoderSteps |
| subscribe |
motor_cmd_vel |
roboclaw/RoboclawMotorVelocity |
- When using one Roboclaw controller, configure it in packet serial mode with address 0x80. This will be motor index 0 in RoboclawEncoderSteps and RoboclawMotorVelocity.
- When using more than one Roboclaw controller, configure them in packet serial mode with 0x80 being motor index 0, 0x81 being motor index 1, and so on.
| Param |
Type |
Description |
| steps_per_meter |
string |
Number of encoder steps per meter |
| base_width |
int |
Diameter of the robots base from the center of each wheel |
| swap_motors |
bool |
Swap motor1 with motor2 |
| invert_motor_1 |
bool |
Invert drive and odometry for motor1 |
| invert_motor_2 |
bool |
Invert drive and odometry for motor2 |
| Action |
Topic |
Type |
| publish |
odom |
Odometry |
| subscribe |
cmd_vel |
Twist |