modelec/ros2_roboclaw_driver
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Added instructions to alter that yaml file and how 38400 buad and packet serial are required.

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Michael Wimble
2025-03-16 19:23:42 -07:00
parent 589a745019
commit f0a2af810d
1 changed files with 22 additions and 2 deletions
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README.md
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@@ -308,7 +308,7 @@ The single line response will show your user name. Then you need to add that use
```bash
sudo su
usermod -a -G dialout *myusername*
usermod -a -G dialout myusername
```
Replace *myusername* in the second line with the actual username result from the ***whoami*** command.
@@ -334,5 +334,25 @@ minicom -D /dev/ttyAMA0
if you enabled UART0. For UART1, the device is ***/dev/ttyAMA1***.
When ***minicom*** comes up, you should be able to type some characters on the keyboard and see them echoed in the screen. To exit ***minicom***, type **control-A** followed by **Q** and then hit return when it asks if you want to ***Leave without reset?***. You can explore ***minicom** if you want to play with attributes of the UART port, such as setting a different baud rate, but I'm not covering that here.
When ***minicom*** comes up, you should be able to type some characters on the keyboard and see them echoed in the screen. To exit ***minicom***, type **control-A** followed by **Q** and then hit return when it asks if you want to ***Leave without reset?***. You can explore **minicom** if you want to play with attributes of the UART port, such as setting a different baud rate, but I'm not covering that here.
## Change the motor_driver.yaml file
As described elsewhere in this document, you need to change the ***motor_driver.yaml*** file to point to the UART you enabled.
For example, here is a slice of a possible ***motor_driver.yaml*** file to use a Raspberry Pi UART:
```code
motor_driver_node:
ros__parameters:
# Incremental acceleration to use in quadrature pulses per second.
accel_quad_pulses_per_second: 1000
# The device name to be opened.
device_name: "/dev/ttyAMA1"
```
Notice that this ***motor_driver.yaml*** fragment tells the code to use UART1, which is in the device tree as ***/dev/ttyAMA1***
**NOTE** **NOTE** **NOTE**
At present, the code is hard-coded to use 38400 baud communication between the Raspberry Pi and the **RoboClaw**. Make sure you have configured the **RoboClaw** to use this baud rate and also to use Packet Serial communication mode.