xqserial_server

xiaoqiang motor driver and low level ROS api package

input topic

  name                                  type        
/cmd_vel                         geometry_msgs/Twist
/barDetectFlag                   std_msgs/Bool

output topic

   name                                 type                 frate
/xqserial_server/Odom            nav_msgs/Odometry            50hz
/xqserial_server/Pose2D          geometry_msgs/Pose2D         50hz
/xqserial_server/Power           std_msgs/Float64             50hz
/xqserial_server/StatusFlag      std_msgs/Int32               50hz
/xqserial_server/Twist           geometry_msgs/Twist          50hz
/tf                              odom-->base_footprint        50hz
/tf_static                       base_footprint-->base_link   100hz

input param

   name                            default
port                             /dev/ttyUSB0
baud                               115200
wheel_separation                    0.37
wheel_radius                        0.06
debug_flag                          false
max_speed                           2.0
cmd_topic                           cmd_vel

Usage:

download to xiaoqiang ros workspace

cd ~/Documents/ros/src
git clone https://github.com/BlueWhaleRobot/xqserial_server.git 
cd ..
catkin_make

Quickstart

roslaunch xqserial_server xqserial.launch

Made with ❤️ by BlueWhale Tech corp.

小强电机驱动和相关的ROS底层驱动程序。

使用方法：

安装到小强ROS工作目录

cd ~/Documents/ros/src
git clone https://github.com/BlueWhaleRobot/xqserial_server.git 
cd ..
catkin_make

直接启动

roslaunch xqserial_server xqserial.launch

由蓝鲸科技精 ❤️ 制作。