Driver for Pololu motors with ROS. Controls Pololu Maestro as well as Micro Serial Servo Controller
Pololu Motors needs to be installed
Config is loaded from static file passed as private parameter ~pololu_motors_yaml Example: https://github.com/hansonrobotics/robots_config/blob/master/eva/face.yaml Single entry should look like this:
Joint1:
motor_id: 0
init: 1500
min: 1000
max: 1900
speed: 0
acceleration: 0
callibration:
min_angle: -45
min_pulse: 1000
max_angle: 45
max_pulse: 1900
Only motor_id, min, max, init are required. If callibration is not provided the motor is configured in the way that its range is 90 degrees and init value has 0 degrees. Once calibrated motors are appended to the ROS param server motors parameter, with calibrated values added. Additional settings can be added to configs, and those will be later passed to motors param for other nodes to process.
In addition if motors are not configured, the motor_id can be sent as joint name, and the angle will be mapped to 820 - 2280 pulse range which corresponds to -90 - 90 degrees angles.