Only released in EOL distros:   indigo

• New Maintainer : Inovasyon Muhendislik <evarobot@inovasyonmuhendislik.com>

Nodes

evarobot_driver

evarobot_driver takes velocities and drives left and right motors on the Evarobot using PWM(Pulse Width Modulation).

Subscribed Topics

cntr_wheel_vel (geometry_msgs/Twist)

• Linear and angular velocities which are applied to the Evarobot.

Parameters

~commandTopic (string, default: cntr_wheel_vel)

• Topic name which is read.

~maxLinearVel (double, default: 1.0)

• Maximum linear velocity of the Evarobot.

~maxAngularVel (double, default: 3.0)

• Maximum angular velocity of the Evarobot.

~wheelSeparation (double, default: 0.32)

• Distance between two wheels in meter.

~wheelDiameter (double, default: 0.17)

• Wheel diameter in meter.

~pwmFrequency (double, default: 1000.0)

• PWM frequency.

~pwmDuty (int, default: 90)

• Max. duty cycle.

~pwmCounts (int, default: 256)

• Number of pwm count.

~pwmMode (int, default: 2)

• 1: PWMMode (||||||.....), 2: MSMode (|.|.|.|.|.|).

~M1_IN1 (int, default: 1)

• Pin number of M1_IN1.

~M1_IN2 (int, default: 12)

• Pin number of M1_IN2.

~M1_EN (int, default: 5)

• Pin number of M1_EN.

~M2_IN1 (int, default: 0)

• Pin number of M2_IN1.

~M2_IN2 (int, default: 19)

• Pin number of M2_IN2.

~M2_EN (int, default: 6)

• Pin number of M2_EN.