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.
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
You can use any type of publisher as an input of motor controller This driver subscribe /cmd_vel topic as an iput
Install the package
sudo apt-get install ros-<distro>-teleop-twist-keyboard
Run
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
rostopic pub /cmd_vel geometry_msgs/Twist -r 20 '[1, 0, 0]' '[0, 0, 5]'
publish topic as linear velocity / angular velocity
check the roboteq_diff_driver/launch/driver.launch especially for 'wheel_circumference', 'track_width', 'encoder_ppr', 'encoder_cpr' etc.
- Chad Attermann - Initial work - Ecos Technologies
This project is licensed under the BSD License.