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Description

This code is for those working with the Rover Robotics Rover Zero V1.

The Rover Zero V1 uses the RoboClaw 2x15 motor controller which communicates via USB.

This package abstracts away the USB communications and allows users to quickly get their robots moving around and doing cool things!

Nodes

rr_roverzero_driver

This package serves as a ROS driver for a Rover Robotics Rover Zero Driver which communicates via UART to a host PC running ROS. This package assumes users are using a USB cable.

Subscribed Topics

/cmd_vel (geometry_msgs/Twist)

• A topic that controls the linear (m/s) and angular (rad/s) velocity of the robot. cmd_vel/managed should come from a package that can manage multiple sources of control (local joystick, remote keyboard, move_base, etc...) like rr_control_manager. If only one source of input is needed then this can be remapped to cmd_vel.

soft_estop/enable (std_msgs/Bool)

• When set to True the driver will ignore all input commands until the True message is received on the /rr_openrover_driver/soft_estop/reset topic (even if False is published to this topic). This is very useful to map to a button on a controller. If activated while using the ROS nav stack it acts as a pause button and autonomy can easily be resumed if the estop is reset before your navigation stack timeouts kick in.

soft_estop/reset (std_msgs/Bool)

• Used to reset the soft_estop. This is also useful to map to a button on a controller

Published Topics

diagnostics (<<MsgLink: execution failed [string index out of range] (see also the log)>>)

• diagnostics settings for roboclaw.

odom (invalid message type for MsgLink(msg/type))

• Encoder-based odometry

Parameters

address (int, default: 128)

• Roboclaw communication address

baud (int, default: 115200)

• commuincation baudrate

max_vel (double, default: 5)

• software cap on robot's velocity

max_turn_rate (double, default: 6.28)

• software cap on robot's turnrate

speed_to_duty_coef (double, default: 1.02)

• coeficient used to convert speed to duty cycle

diag_frequency_hz (double, default: 1.0)

• diagnostic frequency

motor_cmd_frequency_hz (double, default: 30)

• motor cmd frequency

odom_frequency_hz (double, default: 30)

• odometry frequency

cmd_vel_timeout (double, default: .5)

• roboclaw communication timeout

enable_encoder_odom (Bool, default: False)

• enable to publish odometry data to ros

enable_esc_feedback_controls (Bool, default: False)

• Enable to turn on PID with current PID settings. Will ignore PID values from PID parameters

v_pid_overwrite (Bool, default: False)

• Overwrite Hardware PID values with the one from PID parameters

save_motor_controller_settings (Bool, default: false)

• save changes to motor controller

m1_v_p (Double, default: 3)

• Motor 1 Velocity P

m1_v_i (Double, default: 0.35)

• Motor 1 Velocity I

m1_v_d (Double, default: 0)

• Motor 1 Velocity D

m1_v_qpps (Int, default: 10000)

• Motor 1 Maximum Possible Speed*

m2_v_p (Double, default: 3)

• Motor 2 Velocity P

m2_v_i (Double, default: 0.35)

• Motor 2 Velocity I

m2_v_d (Double, default: 0)

• Motor 2 Velocity D

m2_v_qpps (Int, default: 10000)

• Motor 2 Maximum Possible Speed

encoder_pulses_per_turn (Double, default: 5400)

• Encoder Tick Per Revolution

left_motor_max_current (Double, default: 5)

• Motor 1 Max Current Setting

right_motor_max_current (Double, default: 5)

• Motor 2 Max Current Setting

active_brake_timeout (double, default: 1)

• Active brake timeout

odom_frame (tf, default: odom)

• Robot TF Frame for Odometry

base_link_frame (tf, default: base_link)

• Robot TF Frame for Base Link

wheel_base (double, default: 0.358775)

• Distance between center of wheels

wheel_radius (Double, default: 0.127)

• Radius of wheel