alex-makarov / hoverboard-driver

ROS hardware driver for UART-controlled hoverboard

hoverboard-driver

ROS hardware driver for UART-controlled hoverboard. Can be used with diff_drive_controller. Hoverboard is using modified firmware by Emanuel Feru, changed to report wheel odometry via serial protocol.

If you're looking for the version of Hoverboard driver for bipropellant firmware, check the respective branch.

This driver is built for Robaka, a prototyping robotic platform based on hoverboard, Jetson Nano and a bunch of sensors. There is a Slack community for Robaka.

Usage

1. Hoverboard port can be set as a "port" parameter in the node namespace. Check hoverboard.launch and 4x4.launch for examples of 2WD and 4WD configurations. 4WD config is purely for illustration on how to use several ports, but was not tested with two hoverboards.
2. roslaunch hoverboard_driver hoverboard.launch
3. Use any tool (keyboard_teleop, rqt) to send speed commands to hoverboard_velocity_controller/cmd_vel.

In 4x4 configuration, if you want to control both axis with the same cmd_vel, you can apply remapping as following:

<launch>
    <group ns="front">
        <param name="port" type="str" value="/dev/ttyTHS1"/>
        <remap from="/front/hoverboard_velocity_controller/cmd_vel" to="/cmd_vel"/>
        <include file="$(find hoverboard_driver)/launch/hoverboard.launch" />
    </group>
    <group ns="rear">
        <param name="port" type="str" value="/dev/ttyTHS2"/>
        <remap from="/rear/hoverboard_velocity_controller/cmd_vel" to="/cmd_vel"/>
        <include file="$(find hoverboard_driver)/launch/hoverboard.launch" />
    </group>
</launch>

DISCLAIMER

I bear no responsibility for any damage, direct or indirect, caused by using this project. Hoverboards are powerful and can be dangerous! Make sure you take all safety precautions!