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https://github.com/modelec/ros2_roboclaw_driver.git
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75 lines
2.8 KiB
YAML
Executable File
75 lines
2.8 KiB
YAML
Executable File
# The configuration file provides values for the two, differential
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# drive motors, 'm1' and 'm2'. See the article:
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# https://resources.basicmicro.com/auto-tuning-with-motion-studio/
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# for a description of how to derive the p, i, d and qpps values.
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#
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# This configuration file is set up and an example for use with
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# A Raspberry PI 5 using a UART to connect to a RoboClaw motor driver.
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# See the README.md file for more information on how to set up
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# the RoboClaw and the Raspberry PI and how to set values in this file.
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motor_driver_node:
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ros__parameters:
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# Incremental acceleration to use in quadrature pulses per second.
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accel_quad_pulses_per_second: 1000
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# The device name to be opened. Change this to your actual device you are using.
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# Both USB and UART devices are supported. The device name is the
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# name of the device as it appears in the /dev directory.
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device_name: "/dev/ttyAMA0"
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baud_rate: 38400 # This does not apply when using USB.
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# The assigned port for the device (as configured on the RoboClaw).
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device_port: 128
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# The P, I, D and maximum quadrature pulses per second for both motors.
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# These values are for my robot. Replace them with your own values.
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# Use can use Basic Micro's Motion Studio to determine the values.
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m1_p: 7.26239
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m1_i: 1.36838
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m1_d: 0.0
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m1_qpps: 2437
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m2_p: 7.26239
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m2_i: 1.28767
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m2_d: 0.0
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m2_qpps: 2437
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# The maximum expected current (in amps) for both motors.
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# Used just to signal warnings.
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m1_max_current: 6.0
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m2_max_current: 6.0
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# Rate limiting commands. The driver will clip any value
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# exceeding these limits.
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max_angular_velocity: 0.07
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max_linear_velocity: 0.3
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# If no new motor commands is received since the last motor
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# command in this number of seconds, stop the motors.
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max_seconds_uncommanded_travel: 0.25
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publish_joint_states: false
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publish_odom: true
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# Based upon your particular motor gearing and encoders.
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# These values are used to scale cmd_vel commands
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# and encoder values to motor commands and odometry, respectfully.
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quad_pulses_per_meter: 1566
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quad_pulses_per_revolution: 979.62
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# Based upon y our particular robot model.
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# The wheel separation and radius, in meters.
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wheel_radius: 0.10169
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wheel_separation: 0.345
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# Topic name to be used to publish the RoboClaw status messages.
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roboclaw_status_topic: "roboclaw_status"
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# How often, in Hz, to sense the various RoboClaw internal values.
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# This is the rate that Joint State, Odomentry and
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# RoboClaw status messages are published.
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sensor_rate_hz: 20.0
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# Debugging control.
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do_debug: false # True => Log RoboClaw commands and responses.
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do_low_level_debug: false # True => Log low-level serial and RoboClaw data. |