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:

Advanced Digital Motor Controllers, as described in this document.

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

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

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]