roboteq_motor_controller_driver (ROS2)

Setting the configuration roboteq motor controller parameters

Roboteq Motor Controller Driver for ROS2 (Humble)

/roboteq_motor_controller_node:
  ros__parameters:
    roboteq_motor_controller:
      port_name: "/dev/ttyACM0" # Port name of left motor controller serial port.
      frame_id: "roboteq_motor_controller" # Frame ID
      baudrate: 115200 # Baudrate of the roboteq motor controller serial port. 
      left_motor_direction: 1 # Left motor direction, it can be 1 or -1
      right_motor_direction: 1 # Right motor direction, it can be 1 or -1
      motor_acceleration: 1.0 # Acceleration of left and right motors.
      motor_deceleration: 1.0 # Deceleration of left and right motors.

Build roboteq_motor_controller package

cd ~ros2_ws/src && git clone https://github.com/furkansariyildiz/roboteq_motor_controller_driver.git

cd ~ros2_ws && colcon build --symlink-install --packages-select roboteq_motor_controller

Run command via launch

ros2 launch roboteq_motor_controller roboteq_motor_controller.launch.py

Usage

Subscribers

/roboteq_motor_controller/motors_rpm

This package subscribes /roboteq_motor_controller/motors_rpm topic for getting desired RPM values. After getting this message, package sends RPM values to motor controller for left and right motors.

roboteq_motor_controller::msg::RPM

std_msgs/Header header
std_msgs/Float64 left_motor_rpm
std_msgs/Float64 right_motor_rpm

Publishers

/roboteq_motor_controller/motors_rpm_output

Package publishes motor RPM values to /roboteq_motor_controller/motors_rpm_output topic which are readed from motor controller with roboteq_motor_controller::msg::RPM type.

roboteq_motor_controller::msg::RPM

std_msgs/Header header
std_msgs/Float64 left_motor_rpm
std_msgs/Float64 right_motor_rpm

/roboteq_motor_controller/motor_controller_flags

Package publsihes motor controller flags to /roboteq_motor_controller/motor_controller_flags topic with roboteq_motor_controller::msg::MotorControllerFlags type.

roboteq_motor_controller::msg::MotorControllerFlags

std_msgs/Header header
string[] fault_flags
string[] left_motor_flags
string[] right_motor_flags
string[] status_flags

fault_flags: String array for motor and motor controller faults. Fault flag can contains following values;

{"DefaultConfigLoaded", "MosfetFail", "MotorSensorSetupFault", "EmergencyStop", "ShotCircuit", "UnderVoltage", "OverVoltage", "OverHeat"}

left_motor_flags: String array for left motor. Motor flags can contain following values;

{"AmpsTriggerActivated", "ReverseLimitTriggered", "ForwardLimitTriggered", "SafetyStopActive", "LoopErrorDetected", "MotorStalled", "AmpsLimitCurrentlyActive"}

right_motor_flags: String array for left motor. Motor flags can contain following values;

{"AmpsTriggerActivated", "ReverseLimitTriggered", "ForwardLimitTriggered", "SafetyStopActive", "LoopErrorDetected", "MotorStalled", "AmpsLimitCurrentlyActive"}

status_flags: String array for motor controller status flags. It can contain following values;

{"Setup", "RunScript", "STO", "AtLimit", "StallDetected", "PowerStageOff", "AnalogMode", "PulseMode", "SerialMode"},

/roboteq_motor_controller/motor_controller_status

Package publishes motor RPM values to /roboteq_motor_controller/motor_controller_status topic which are readed from motor controller with roboteq_motor_controller::msg::MotorControllerStatus type.

roboteq_motor_controller::msg::MotorControllerStatus

std_msgs/Header header
roboteq_motor_controller/MotorStatus left_motor_status
roboteq_motor_controller/MotorStatus right_motor_status

• roboteq_motor_controller/MotorStatus

  std_msgs/Header header
  roboteq_motor_controller/MotorCurrent current
  roboteq_motor_controller/MotorTemperature temperature 

  • roboteq_motor_controller/MotorCurrent

    std_msgs/Float64 amper 

  • roboteq_motor_controller/MotorTemperature

    std_msgs/Float64 celsius

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