Package Summary

Provides an interface between diff_drive_controller and an Arduino.

Maintainer status: maintained
Maintainer: Josh Newans <josh.newans AT gmail DOT com>
Author: Josh Newans <josh.newans AT gmail DOT com>
License: BSD
Bug / feature tracker: https://github.com/joshnewans/diffdrive_arduino/issues
Source: git https://github.com/joshnewans/diffdrive_arduino.git (branch: melodic-devel)

Contents

Summary

This package provides an interface between ros_control (specifically diff_drive_controller) and ros_arduino_bridge.

Have your robot with an Arduino running the firmware from ros_arduino_bridge.
Run the node with rosrun diffdrive_arduino diffdrive_robot, specifying any parameters you need to.
Set up the controllers. You will need to run a diff_drive_controller and a joint_state_controller. You may also need to set the robot_description if that information is not provided directly to the diff_drive_controller.
Run the controllers.
Send some input to cmd_vel (e.g. with teleop_twist_joy).

~left_wheel_name (string, default: left_wheel)

~right_wheel_name (string, default: right_wheel)

~baud_rate (int, default: 57600)

~device (string, default: /dev/ttyUSB0)

~loop_rate (float, default: 30.0)

~enc_counts_per_rev (int, default: 1920)

~timeout (int, default: 1000)