minion_servo_ros2
A simple ROS2 module for servos using pigpio hw assisted PWM. It uses the pigpiod library. Before ROS2 nodes run succesfully you need to make sure that the pgpiod daemon is running.
Using pigpiod also implies using BCM port numbers and ot wiringPi, i.e. find the GPIO your servo is connected to at https://pinout.xyz/ and use the "GPIO/BCM" pin nimber
Create ROS2 workspace, check this repo out int the src and do
rosdep install -i --from-path src --rosdistro foxy -y
colcon build --packages-select minion_servo
In an shell got to the workspace do something like
source /opt/ros/foxy/setup.bash
. install/setup.bash
Run with
ros2 run minion_servo minion_servo
Or using launch file, preconfigured for Yahboom G1
ros2 launch minion_servo minion_servo_launch.py
Test it via
ros2 service call /set_degree minion_servo/srv/SetServo '{"degree": 20}'