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melodic

Summary

This package provides an interface between ros_control (specifically diff_drive_controller) and ros_arduino_bridge.

Getting Started

1. Have your robot with an Arduino running the firmware from ros_arduino_bridge.

2. Run the node with rosrun diffdrive_arduino diffdrive_robot, specifying any parameters you need to.

3. Set up the controllers. You will need to run a diff_drive_controller and a joint_state_controller. You may also need to set the robot_description if that information is not provided directly to the diff_drive_controller.

4. Run the controllers.

5. Send some input to cmd_vel (e.g. with teleop_twist_joy).

Nodes

diffdrive_robot

Parameters

~left_wheel_name (string, default: left_wheel)

• Left wheel joint name

~right_wheel_name (string, default: right_wheel)

• Right wheel joint name

~baud_rate (int, default: 57600)

• Baud rate of serial connection

~device (string, default: /dev/ttyUSB0)

• Address of serial device

~loop_rate (float, default: 30.0)

• Frequency (in Hz) of the processing loop on the Arduino

~enc_counts_per_rev (int, default: 1920)

• Number of encoder counts per wheel revolution

~timeout (int, default: 1000)

• Timeout (ms) of serial device

Future Works

• Support for different firmwares
• PID adjustment
• Better handling of parameters
• Better documentation/tutorial
• Example yamls/launch