This repo contains the ROS2 messages used by the associated ROS2 Roboclaw driver node (sheaffej/roboclaw_driver2)
See the sheaffej/roboclaw_driver2 README.md for steps on how to use this repo.
The ROS2 messages are simply:
SpeedCommand.msg:
# Motor speed in QPPS
int32 m1_qpps
int32 m2_qpps
# Acceleration
uint32 accel
# Max seconds before automatically stopping
uint32 max_secs
Stats.msg:
# Motor 1 & 2 encoder values
int32 m1_enc_val
int32 m2_enc_val
# Motor 1 & 2 speed values in QPPS (+/-)
int32 m1_enc_qpps
int32 m2_enc_qpps