Roboteq Controller

Summary

This ROS2 Driver for the Roboteq HDC2460 and the Roboteq AX2850 controllers. The node searches all open usb ports and finds the one the roboteq is assigned to. from there it computes the left and right wheel speeds, multiplies it by the speed multiplier, which is 60 in our case and then write it over RS-232 to the controller.

Topics

Publisher

• no topics are pubished from this node

Subscriber

• this node subscribes to the /cmd_vel topic published from nav2 or teleop

Params

This node has 3 parameters

1. Min Speed
2. Max Speed
3. Speed Multipler
4. Baudrate
5. chunck size

Launch

To launch this package, make sure the roboteq controller is plugged into a usb port and is powered on, after that, source ros and the work space and then type the command ros2 launch isc_roboteq roboteq.launch.py

install/Build

1. Change directory into your colcon workspace folder. Example: cd ~/ros_ws/
2. Clone the repository into your colcon workspace: vcs import src --input https://raw.githubusercontent.com/girvenavery2022/isc_roboteq_hdc2460/ros2/roboteq.repos
3. Build the colcon workspace: colcon build
4. Source the local workspace: . install/setup.bash