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ROS Package for the serial dual motor driver board MD49, designed for use with two EMG49 motors

Use GitHub to report bugs or submit feature requests. [View active issues]

Documentation

The md49_base_controller node

Subscribes to /cmd_vel and publishes to topics /md49_data and /md49_encoders

Subscribed Topics

/cmd_vel (geometry_msgs/Twist)

• subscribes this topic

Published Topics

/md49_data (md49_messages/md49_data)

• Contains the set parameters and data from MD49, like mode, acceleration, current_left, current_right...

/md49_encoders (md49_messages/md49_encoders)

• Encodervalues, read from MD49

Parameters Set

~serialport/name (std::string, default: /dev/ttyS0)

• Used serialport, to which MD49 is connected

~serialport/bps (int, default: 38400)

• Used baudrate for serialport, to which MD49 is connected

~md49/mode (int, default: 0)

• Mode, with which MD49 initiated

~md49/acceleration (int, default: 5)

• Acceleration, with which MD49 initiated

~md49/regulator (boolean, default: true)

• Regulator mode, with which MD49 initiated

~md49/timeout (boolean, default: true)

• Timeout mode, with which MD49 initiated

~md49/speed_l (int, default: 128)

• Speed for left drive, with which MD49 initiated

~md49/speed_r (int, default: 128)

• Speed for right drive, with which MD49 initiated