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roverrobotics_ros2's Issues

Rover Zero 3 Compatibility

Is the Zero 3 ROS2 compatible? I have followed the installation and communication instructions found here and in the tools repository, but I have been unable to connect to the robot when using the zero2.launch.py file. I installed the tools for Rover Zero 2, as this was seemingly the closest model to the Zero 3, which I am using.

roverrobotics_ros2_b package?

Seems like an old artifact, should this metapackage be removed or renamed? Given the number of packages in here, I might suggest removing it for now and readding a metapackage if/when you have more roverrobotics_* packages (like nav configurations, etc)

Rover Pro rpm suddenly changes to a negative value

The rpm received from UART suddenly changes to a negative value when speed of 1.6m/s or more is passed to the topic of cmd_vel.

We think that Rover Pro will send an invalid rpm when the motor speed exceeds the maximum value of 32,767 of "signed unsigned char" type

[protocol_pro.cpp]
void ProProtocolObject::unpack_comm_response(std::vector<uint8_t> robotmsg) {
..
int16_t b = (data1 << 8) + data2;
switch (int(dataNO)) {
case REG_PWR_TOTAL_CURRENT:
break;
case REG_MOTOR_FB_RPM_LEFT:
robotstatus_.motor1_rpm = b;
RCLCPP_INFO(rclcpp::get_logger("librover"), "motor1 : %d", robotstatus_.motor1_rpm); <== HERE
break;
case REG_MOTOR_FB_RPM_RIGHT: // motor2_rpm;
robotstatus_.motor2_rpm = b;
RCLCPP_INFO(rclcpp::get_logger("librover"), "motor2 : %d", robotstatus_.motor2_rpm); <== HERE
break;

[roverrobotics_driver-2] [INFO] [1627352670.935052496] [librover]: write 253 215 215 125 10 2 198
[roverrobotics_driver-2] [INFO] [1627352670.936004152] [librover]: write 253 215 215 125 10 4 196
[roverrobotics_driver-2] [INFO] [1627352670.947495799] [librover]: motor1 : 27758
[roverrobotics_driver-2] [INFO] [1627352670.947623064] [librover]: motor2 : 24019
[roverrobotics_driver-2] [INFO] [1627352670.969478827] [librover]: write 253 214 216 125 10 2 198
[roverrobotics_driver-2] [INFO] [1627352670.970326930] [librover]: write 253 214 216 125 10 4 196
[roverrobotics_driver-2] [INFO] [1627352670.979489694] [librover]: motor1 : 24019
[roverrobotics_driver-2] [INFO] [1627352670.979624927] [librover]: motor2 : -32661 <==Here is the issue log!!

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