roboteq_diff_driver

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.

Usage

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.

TODO

• [x] Make topic names and frames configuration parameters configurable at runtime.
• [x] Make robot configuration parameters configurable at runtime.
• [x] Make motor controller device configuration parameters configurable at runtime.
• [ ] Make miscellaneous motor controller configuration parameters configurable at runtime.

Authors

• Chad Attermann - Initial work - Ecos Technologies

License

This project is licensed under the BSD License.