minion_servo_ros2

A simple ROS2 module for servos using pigpio hw assisted PWM. It uses the pigpiod library. Before ROS2 nodes run succesfully you need to make sure that the pgpiod daemon is running.

Using pigpiod also implies using BCM port numbers and ot wiringPi, i.e. find the GPIO your servo is connected to at https://pinout.xyz/ and use the "GPIO/BCM" pin nimber

Create ROS2 workspace, check this repo out int the src and do

rosdep install -i --from-path src --rosdistro foxy -y
colcon build --packages-select minion_servo

In an shell got to the workspace do something like

 source /opt/ros/foxy/setup.bash
. install/setup.bash

Run with

ros2 run  minion_servo  minion_servo 

Or using launch file, preconfigured for Yahboom G1

ros2 launch minion_servo minion_servo_launch.py

Test it via

ros2 service call /set_degree minion_servo/srv/SetServo '{"degree": 20}'