andino_base package from andino repoandino_base andino_bringup andino_control andino_description andino_firmware andino_gz_classic andino_hardware andino_navigation andino_slam
|Tags||No category tags.|
|License||BSD Clause 3|
- Franco Cipollone
- Franco Cipollone
The hardware-software-ros interaction in the
andino project is developed using ROS 2 Control.
andino's hardware interface.
- Provides a communication with microcontroller:
andino_base::MotorDriver class is in charge of the Serial communication for commanding the motors.
- An application is provided for evaluating the communication: Check
applications/motor_driver_demo.cpp. To use this application simply execute
motor_driver_demo --help to see the options.
- This communication module is used by the hardware interface implementation.
ros2_control hardware system components are libraries, dynamically loaded by the controller manager using the pluginlib interface.
For extra information about the hardware components see Hardware Components.
The hardware interface accepts some parameters that are passed via the urdf description within the
ros2_control tag (Check
|left_wheel_name||Name of the left wheel joint.|
|right_wheel_name||Name of the right wheel joint.|
|serial_device||Path to the serial device.|
|baud_rate||Baud rate of the serial communication.|
|timeout||Timeout for the communication.|
|enc_ticks_per_rev||Encoder ticks per revolution of the wheel.|
This hardware interface implements the following state interfaces per joint (for left and right joint): - Position: The position is obtained via encoder information from the microcontroller. - Velocity: Velocity is calculated via encoder information from the microcontroller.
This hardware interface uses the following command interfaces per joint (for left and right joint): - Velocity: The velocity received (rad/s) is traduced to microcontroller's velocity nomenclature for the motors.
Motor Driver Application
An application for testing the connection with the microcontroller is provided.
After installing this package the application called
motor_driver_demo can be used.
This application allows verifying the communication with the microcontroller for controlling the motors. Commands for reading the encoders or individually setting a velocity for the motors is some of the possibilities.
- Serial communication: In case the serial port is denied to be open, probably the user should be added to the
sudo usermod -a -G dialout $USER sudo usermod -a -G plugdev $USER