ROS2 - Galactic devel

ROS-Driver-Update/README.md → README.md

@@ -1,26 +1,18 @@
 # ROS-Driver
-# Quick Start Guide
+
+## Introduction
+**From Roboteq**
+
 ```
  Note*  
  -This ROS driver only supports firmware version 2.0 or 2.0+. 
  -You can check your firmware version from Roborun+ console tab by querying - "?fid". 
  -If firmware is not the latest one then please update it with the latest one available on Roboteq website 
   or contact "techsupport.roboteq@mail.nidec.com".
 ```
-This repository contains the ROS driver for Roboteq controllers. The package requires ROS system to be installed properly to your system  and proper connection of Roboteq controller. For detailed controller setup instructions, please refer to our documentation [here](https://www.roboteq.com/index.php/docman/motor-controllers-documents-and-files/documentation/user-manual/272-roboteq-controllers-user-manual-v17/file).
-
-First, clone this repository to catkin_ws/src 
-```
-git clone https://github.com/Roboteq-Inc/ROS-Driver.git
-```
-
-The `Roboteq motor controller driver` is the package for the Roboteq ROS-driver. Make sure not to change package name as it will change the definition in the Cmake and Package files. Open new terminal and copy these steps -
+This repository contains the ROS driver for Roboteq controllers. The package requires ROS system to be installed properly to your system  and proper connection of Roboteq controller. For detailed controller setup instructions, please refer to our documentation [here (link died)](?).
 
-```
-cd catkin_ws/
-source devel/setup.bash
-roslaunch roboteq_motor_controller_driver driver.launch
-```
+**Roboteq CLAIMED!!!**
 
 The roboteq driver is designed to be dynamic and users can publish the controller queries as per their requirements. The publishing queries is not limited to any value. By default total 9 queries are published by launching this driver. Users can change or add queries in configuration file. For that go to config/query.yaml
 
@@ -47,3 +39,23 @@ queryG:
 # status_flag : ?FS
 # firmware_id : ?FID  Users can add queries which do not require channel number under queryG tab. 
 ```
+
+**FACTS:**
+- It originally worked at a fixed rate of 5 Hz while querying system's states. I did **major** mofifications in this work, making it work at a frequency you want to.
+- They did also specified 3 separate query frequencies in [the config file](config/query.yaml): `frequencyH`, `frequencyL`, and `frequencyG`. However, it's not the case (or quite complicated). Here in this work, I cleaned all of it and only keep a default `frequency` for all queries. It's sufficient for me, and hopefully for you too.
+- I only used the `driver.launch` for now. So `diff_odom` is kept as original. Later, I might make it works, but probably by modifying the `roboteq_controller_node`, not putting in a separated file to make it a little bit efficent.
+
+
+**Note**: This package is tested on XDC2460. In general, it uses serial communication so feel free to test it on your roboteq device. Please let me know it you do so, whether it works, any issues. Thank you.
+
+
+
+## Installation
+```bash
+cd YOUR_WS/src/
+git clone https://github.com/DoanNguyenTrong/roboteq_controller_ros.git
+cd YOUR_WS
+colcon build --packages-select roboteq_controller
+. install/setup.bash
+ros2 launch roboteq_controller roboteq_launch.py
+```