Lexseal / zlac8015d_ros

ros driver for zlac8015d

ZLAC8015D ROS driver

Installation and Usage

1. cd into your colcon workspace's soruce directory
2. git clone --recursive https://github.com/Lexseal/zlac8015d_ros.git
3. cd zlac8015d_ros && cd ZLAC8015D_python && python3 -m pip install .
4. go back to your colcon workspace and run colcon build --symlink-install and source install/setup.bash
5. ros2 run zlac8015d_ros driver <optional port like /dev/serial/by-id/...>

Note

This uses RS485-USB converter to communicate with the driver. The default port is /dev/ttyUSB0, you can change it in driver.py file. It is likely you will need to run sudo usermod -a -G dialout $USER or sudo chmod 777 /dev/ttyUSB0 to have permission to access the port.

Configuration

You will likely need to tune the robot radius inside the driver.py. Default is 0.165 (meters). If you are using get_linear_velocities(), you can pass in an argument called wheel_radius when initializing self.motors. The default value is 0.065 (meters).