ROS driver for the Roboteq SDC21xx family of motor controllers in a differential-drive configuration.
Subscribes to cmd_vel, publishes to odom, and broadcasts odom tf.
Also publishes sensor data to some ancillary topics including roboteq/voltage, roboteq/current, roboteq/energy, and roboteq/temperature.
Does not require any MicroBasic script to operate.
Clone to src directory of catkin workspace, then catkin_make.
Requires ROS serial package. If not already installed:
sudo apt-get install ros-<dist>-serial
Sample launch files in roboteq_diff_driver/launch.
- Make topic names and frames configuration parameters configurable at runtime.
- Make robot configuration parameters configurable at runtime.
- Make motor controller device configuration parameters configurable at runtime.
- Make miscellaneous motor controller configuration parameters configurable at runtime.
- Chad Attermann - Initial work - Ecos Technologies
This project is licensed under the BSD License.