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-<dist>-serial

Sample launch files in roboteq_diff_driver/launch.

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.

This project is licensed under the BSD License.