Code Monkey home page Code Monkey logo

roboclaw's Introduction

Roboclaw

Roboclaw is an extensible series of Roboclaw nodes for ROS

Features

  • The base node "roboclaw_node" supports up to 8 Roboclaw controllers using packet serial mode
  • Drive systems and odometry are decoupled from the base Roboclaw node
  • A differential drive node is supported out of the box
  • Written in roscpp for effecient memory usage and performance

Requirements

  • ROS Kinetic/Lunar/Melodic

Nodes

roboclaw_node

Parameters

Param Type Description
serial_port string Path to the serial port to use
baudrate int Baudrate of the serial port
roboclaws int Number of Roboclaw controllers in packet serial mode

Topics

Action Topic Type
publish motor_enc_steps roboclaw/RoboclawEncoderSteps
subscribe motor_cmd_vel roboclaw/RoboclawMotorVelocity

Notes

  • When using one Roboclaw controller, configure it in packet serial mode with address 0x80. This will be motor index 0 in RoboclawEncoderSteps and RoboclawMotorVelocity.
  • When using more than one Roboclaw controller, configure them in packet serial mode with 0x80 being motor index 0, 0x81 being motor index 1, and so on.

diffdrive_node

Parameters

Param Type Description
steps_per_meter string Number of encoder steps per meter
base_width int Diameter of the robots base from the center of each wheel
swap_motors bool Swap motor1 with motor2
invert_motor_1 bool Invert drive and odometry for motor1
invert_motor_2 bool Invert drive and odometry for motor2
max_linear_speed double Linear speed at which the command will clip if it tries to go higher in m/s
max_linear_acceleration double Maximum linear acceleration in m/s^2
max_angular_speed double Angular speed at which the command will clip if it tries to go higher in rad/s
tf_prefix string String added at the beginning of the frame id of the published TFs

Topics

Action Topic Type
publish odom Odometry
subscribe cmd_vel Twist
publish cmd_vel_filtered Twist

Notes

  • The cmd_vel_filtered topic is the actual command used to compute the motors command and it's published to give feedback to the user. The only filter used at the moment is to saturate the command whenever it tries to go over the maximum speed limits.

Planned

roboclaw's People

Contributors

csvance avatar etienn8 avatar jenswilly avatar

Stargazers

Christen Lofland avatar

Watchers

James Cloos avatar Christen Lofland avatar

Recommend Projects

  • React photo React

    A declarative, efficient, and flexible JavaScript library for building user interfaces.

  • Vue.js photo Vue.js

    🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.

  • Typescript photo Typescript

    TypeScript is a superset of JavaScript that compiles to clean JavaScript output.

  • TensorFlow photo TensorFlow

    An Open Source Machine Learning Framework for Everyone

  • Django photo Django

    The Web framework for perfectionists with deadlines.

  • D3 photo D3

    Bring data to life with SVG, Canvas and HTML. 📊📈🎉

Recommend Topics

  • javascript

    JavaScript (JS) is a lightweight interpreted programming language with first-class functions.

  • web

    Some thing interesting about web. New door for the world.

  • server

    A server is a program made to process requests and deliver data to clients.

  • Machine learning

    Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.

  • Game

    Some thing interesting about game, make everyone happy.

Recommend Org

  • Facebook photo Facebook

    We are working to build community through open source technology. NB: members must have two-factor auth.

  • Microsoft photo Microsoft

    Open source projects and samples from Microsoft.

  • Google photo Google

    Google ❤️ Open Source for everyone.

  • D3 photo D3

    Data-Driven Documents codes.