ros2-maxxii

Setup

In a ros2 compatible device create a workspace or use an existing workspace. Clone the directory with

https://github.com/idra-lab/ros2-maxxii.git

and ros2 serial package. Next connect the roboteq driver via ch340 to the ros2 device. Note down the usb port (commonly /dev/ttyUSB0 or /dev/ttyACM0), and modify accordingly the parameter port. Finally, compile the workspace and source it with

colcon build
source install/setup.bash

Use

To run the node use

ros2 run ros2_maxxii maxxii_node

It is going to use the parameters specified in the node implementation. Otherwise, launch the node with the parameters in config/roboteq_driver.yaml with

ros2 launch ros2_maxxii maxxii.launch.py

Topics

• The node Publishes to /enc Joint State message containing the information from the encoders (angle in radiants).
• The node Subscribes to /cmd Joint State message. The message contains the desired velocitiy setpoint for the motors (radiants per second).