A motor serial communication driver for a three-axis stabilizing platform using SimpleBGC serial protocol.
- ros-melodic-desktop
- ros-melodic-serial
- Build a workspace
mkdir -p ws/src- Clone this repository in
/ws/src
cd ws/src
git clone https://github.com/HoEmpire/pointcloud-fusion.git- Build the files
catkin_make- Run the node
source devel/setup.zsh
roslaunch platform_driver platform_driverWe can modify the parameters in/pointcloud_fusion/cfg/pointcloud_fusion.yaml
basic:
debug_output_scan: false # output the current yaw when scanning
debug_output_encoder: false # output the encoder reading result in real-time
init_time: 10 #platform initialization time
cycle_time_second: 0.05 #the serial communication time
reset_speed: 5.0 # the time for reset from scan/track to free status
transient_time: 1.0 # transient time between SCAN/TRACK to FREE
pitch_in_yaw_control: 0.0 # the pitch offset in yaw control mode
track:
track_speed_limit: 500.0 #the maximum speed in tracking deg/s (the actual performance is slower)You can use rostopic pub /write platform_driver/command to control the platform
uint8 command
// command list
byte POWER_ON = 0
byte POWER_OFF = 1
byte ANGLE_CONTROL = 2 // both speed and angle should be provided
byte SPEED_CONTROL = 3 // only speed should be provided
byte ENCODER_CALIBRATI0N = 4 // calibrate the offset of the encoder
byte RELATIVE_YAW_CONTROL = 5 //control the relative yaw
//only used in angle_control mode and speed_control mode
float32 roll_angle
float32 pitch_angle
float32 yaw_angle
float32 roll_speed
float32 pitch_speed
float32 yaw_speed
// Free Status: mode = 0 (command list only works in FREE status)
// Scan Status: mode = 1
// Track Status: mode = 2 (currently track mode is the relative yaw control mode , the track yaw is the relative yaw angle in platform frame)
uint8 mode
// (in mode =1)
// scan_range(in degree): the yaw will scan from -scan_range to scan_range in platform frame (e.g. scan_range = 90.0, then the platform will scan the yaw angle from -90° to 90°
//scan_cycle_time ( in second): the time for the platform to complete a cycle (in case of scan_range = 90.0, the yaw angle 0->90°->-90°->0° is a cycle)
float32 scan_range
float32 scan_cycle_time
// (in mode =2) relative yaw angle in platform frame
float32 track_yaw
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