⚙️ roboteq control

roboteq_control is a Roboteq motor control ros_control based. This package use a Roboteq device with a serial port.

All parameters, GPIO, Analogs port are controlled by this driver and from dynamic_reconfigure you can setup as you wish this board.

Device included:

Brushed DC	Brushless DC	Sepex
HDC24xx, VDC24xx, MDC22xx, LDC22xx, LDC14xx, SDC1130, SDC21xx	HBL16xx, VBL16xx, HBL23xx, VBL23xx, LBL13xx, MBL16xx, SBL13xx	VSX18xx

Advanced Digital Motor Controllers, as described in this document.

Install

Clone on your catkin workspace this repository, download all dependencies and compile!

# Make catkin workspace if does not exist and clone this repo
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/rbonghi/roboteq_control.git
# Install all dependecies
cd ..
rosdep install --from-paths src --ignore-src -r -y
# Compile package
catkin_make

Don't forget to add in your bash your catkin sources

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

Run

roslaunch roboteq_control roboteq.launch

🚀 That's it!

This launch file can load different parameters such as:

• port - Serial port (defaut: /dev/ttyUSB0)
• config - Configuration file (Example in config file)

This driver include a dynamic_reconfigure topics to dynamically update all parameters of your robot

Detailed information are available on wiki

Example

This package include a differential drive example to drive a robot.

roslaunch roboteq_control differential_drive.launch

There are different parameters than you can setup:

• size - default: 25cm
• radius - default: 8cm
• wheelbase - default: 0.40cm

To control this robot are available this topics

Subscribers:

• /velocity_controller/cmd_vel [geometry_msgs/Twist]
• /roboteq/emergency_stop [std_msgs/Bool]

Publishers:

• /velocity_controller/odom [nav_msgs/Odometry]