To run diffdrive on PiBot, follow the commands below.
ping pibot
to get his ip addressssh pibot@xxx.xxx.xxx.xxx
cd into workspace
colcon build --symlink-install
source install/setup.bash
ros2 launch diffdrive_ddsm115 diffpibot.launch.py
In another terminal on the computer with the controller.
cd into ros workspace
source install/setup.bash
ros2 launch teleop_twist_joy teleop-launch.py joy_config:='xbox' joy_vel:=/diffbot_base_controller/cmd_vel_unstamped
To run SLAM_Toolbox, run the following in a terminal
ros2 launch slam_toolbox online_async_launch.py params_file:=/home/bot/dev_bot/src/diffdrive_ddsm115/bringup/config/mapper_params_online_async.yaml use_sim_time:=false
This node is designed to provide a ros2_control hardware interface for 2x DDSM115 motors.
It is designed to be used with a diff_drive_controller
from ros2_control
.
It is expected to communicate via RS485 serial and to have two DDSM115 motors, using velocity control and position feedback.
It is based on the diffbot example from ros2_control demos.
For a tutorial on how to develop a hardware interface like this, check out the video below:
- Document changes from earlier versions
- Clean up remaining connections to original demo code