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griswaldbrooks / c3pzero

Monorepo for c3pzero mobile base.
MIT License
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Test ROS1 driver #9

Open griswaldbrooks opened 2 years ago

griswaldbrooks commented 2 years ago

Use Case

Before porting code, it's a good idea to verify that it works, in case it doesn't and for something to compare to later.

Acceptance Criteria

GIVEN a tuned roboclaw and motors with encoders AND the ROS1 driver is running WHEN publishing to cmd_vel THEN the motor should turn at the commanded rate

Notes

In ROS1, on the command line you can type

# rostopic pub -r 10 /cmd_vel geometry_msgs/Twist  '{linear:  {x: 0.1, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}'

to send a velocity at 10 Hz. The driver will try to command a differential drive base and not an individual motor, so if only one motor is available, some squinting might be invloved.

griswaldbrooks commented 2 years ago

@MarqRazz ended up using the non-ROS driver from Basic Micro because none of the ROS1 drivers worked out of the box but that one did