sato-susumu / diffdrive_ddsm115

A ROS2_Control Hardware Interface for a differential drive control of robot using DDSM115 motors

diffdrive_ddsm115

To run diffdrive on PiBot, follow the commands below.

• ping pibot to get his ip address
• ssh [e-mail]
• cd into workspace
• colcon build --symlink-install
• source install/setup.bash
• ros2 launch diffdrive_ddsm115 diffpibot.launch.py

In another terminal on the computer with the controller.

• cd into ros workspace
• source install/setup.bash
• ros2 launch teleop_twist_joy teleop-launch.py joy_config:='xbox' joy_vel:=/diffbot_base_controller/cmd_vel_unstamped

To run SLAM_Toolbox, run the following in a terminal

• ros2 launch slam_toolbox online_async_launch.py params_file:=/home/bot/dev_bot/src/diffdrive_ddsm115/bringup/config/mapper_params_online_async.yaml use_sim_time:=false

Motors used

Waveshare DDSM115

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This node is designed to provide a ros2_control hardware interface for 2x DDSM115 motors. It is designed to be used with a diff_drive_controller from ros2_control. It is expected to communicate via RS485 serial and to have two DDSM115 motors, using velocity control and position feedback.

It is based on the diffbot example from ros2_control demos.

For a tutorial on how to develop a hardware interface like this, check out the video below:

https://youtu.be/J02jEKawE5U

To Do

• Document changes from earlier versions
• Clean up remaining connections to original demo code