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WIP: Support roboclaw broadcaster #3

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WIP: Support roboclaw broadcaster #3

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8 changes: 8 additions & 0 deletions launch/minimal.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -49,11 +49,19 @@ def generate_launch_description():
output="both",
)

roboclaw_broadcaster_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=["roboclaw_broadcaster", "--controller-manager", "/controller_manager"],
output="both",
)

nodes = [
ros2_control_node,
robot_state_pub_node,
joint_state_broadcaster_spawner,
robot_controller_spawner,
roboclaw_broadcaster_spawner,
]

return LaunchDescription(nodes)
4 changes: 4 additions & 0 deletions package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,10 @@
<exec_depend>launch</exec_depend>
<exec_depend>launch_ros</exec_depend>
<exec_depend>xacro</exec_depend>
<exec_depend>ros2_control</exec_depend>
<exec_depend>controller_manager</exec_depend>
<exec_depend>diff_drive_controller</exec_depend>
<exec_depend>joint_state_broadcaster</exec_depend>
<exec_depend>roboclaw_hardware_interface</exec_depend>

<test_depend>ament_lint_auto</test_depend>
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9 changes: 9 additions & 0 deletions params/roboclaw_controllers.yaml
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Expand Up @@ -5,9 +5,18 @@ controller_manager:
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster

roboclaw_broadcaster:
type: roboclaw_broadcaster/RoboClawBroadcaster

diffbot_base_controller:
type: diff_drive_controller/DiffDriveController

# TODO: These are not yet used
roboclaw_broadcaster:
ros__parameters:
publish_rate: 1.0
roboclaw_name: roboclaw # TODO: Handle multiple roboclaw units in same interface

diffbot_base_controller:
ros__parameters:
left_wheel_names: ["left_wheel_joint"]
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13 changes: 13 additions & 0 deletions urdf/roboclaw.ros2_control.xacro
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Expand Up @@ -12,6 +12,10 @@
<joint name="left_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="effort">
<!-- effort = motor_constant * current. -->
<param name="motor_constant">1.0</param>
</state_interface>
<param name="address">128</param>
<!--motor types must be one of M1 or M2-->
<param name="motor_type">M2</param>
Expand All @@ -21,12 +25,21 @@
<joint name="right_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="effort">
<!-- effort = motor_constant * current. -->
<param name="motor_constant">1.0</param>
</state_interface>
<param name="address">128</param>
<!--motor types must be one of M1 or M2-->
<param name="motor_type">M1</param>
<!-- Number of encoder ticks per wheel rotation -->
<param name="qppr">51200</param>
</joint>
<gpio name="roboclaw">
<state_interface name="battery_voltage"/>
<state_interface name="battery_percent"/>
<state_interface name="temperature"/>
</gpio>
</ros2_control>

</xacro:macro>
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