This is a Package that provides a ROS interface for the motors in UbiquityRobotics robots. It communicates with the motor controller via a serial port.
This package may be installed from binaries for both x86 and ARM architectures.
The package may be installed with:
sudo apt-get install ros-kinetic-ubiquity-motor
Configuration launch files for the Magni robot are in the package magni_robot.
cmd_vel geometry_msgs/Twist
The command input.
odom nav_msgs/Odometry
Odometry computed from motor controller messages.
/tf tf/tfMessage
The transform from odom to base_link
battery_state sensor_msgs/BatteryState
Charge state of the robot's batteries.
publish_cmd geometry_msgs/TwistStamped
The value of cmd_vel after limits were applied. Available if the publish_cmd paramater is set.
serial_port (string, default: "/dev/ttyS0")
Name of device with which to communicate with motor controller hardware.
baud_rate (int, default: 9600)
Baud rate for serial communication with motor controller hardware.
pid_proportional (int, default: 5000)
The P paramater for the motor controller's PID controller.
pid_integral (int, default: 10)
The I paramater for the motor controller's PID controller.
pid_derivative (int, default: 1)
The D paramater for the motor controller's PID controller.
pid_denominator (int, default: 1000)
Divisor for the above PID paramaters.
pid_moving_buffer_size (int, default: 10)
Size of a moving buffer used in the control loop.
deadman_timer (int, default: 2400000)
If a message is not received after this interval (in MCU clock ticks), the motor controller should assume an error condition and stop.
battery_voltage_multiplier (float, default: 0.5185)
Used to calculate battery voltage from motor controller messages.
battery_voltage_offset (float, default: 0.40948)
Used to calculate battery voltage from motor controller messages.
controller_loop_rate (double, default: 20.0)
Rate (in Hz) at which to send commands to the motor controller hardware.
left_wheel (string | string[...])
Left wheel joint name or list of joint names.
right_wheel (string | string[...])
Right wheel joint name or list of joint names.
pose_covariance_diagonal (double[6])
Diagonal of the covariance matrix for odometry pose publishing.
twist_covariance_diagonal (double[6])
Diagonal of the covariance matrix for odometry twist publishing.
publish_rate (double, default: 50.0)
Frequency (in Hz) at which the odometry is published. Used for both tf and odom.
wheel_separation_multiplier (double, default: 1.0)
Multiplier applied to the wheel separation parameter. This is used to account for a difference between the robot model and a real robot.
wheel_radius_multiplier (double, default: 1.0)
Multiplier applied to the wheel radius parameter. This is used to account for a difference between the robot model and a real robot.
cmd_vel_timeout (double, default: 0.5)
Allowed period (in seconds) allowed between two successive velocity commands. After this delay, a zero speed command will be sent to the wheels.
base_frame_id (string, default: base_link)
Base frame_id, which is used to fill in the child_frame_id of the Odometry messages and TF.
linear/x/has_velocity_limits (bool, default: false)
Whether the controller should limit linear speed.
linear/x/max_velocity (double)
Maximum linear velocity (in m/s).
linear/x/min_velocity (double)
Minimum linear velocity (in m/s). Setting this to 0.0 will disable backwards motion. When unspecified, -max_velocity is used.
linear/x/has_acceleration_limits (bool, default: false)
Whether the controller should limit linear acceleration.
linear/x/max_acceleration (double)
Maximum linear acceleration (in m/s^2).
linear/x/min_acceleration (double)
Minimum linear acceleration (in m/s^2). When unspecified, -max_acceleration is used.
linear/x/has_jerk_limits (bool, default: false)
Whether the controller should limit linear jerk.
linear/x/max_jerk (double)
Maximum linear jerk (in m/s^3).
angular/z/has_velocity_limits (bool, default: false)
Whether the controller should limit angular velocity.
angular/z/max_velocity (double)
Maximum angular velocity (in rad/s).
angular/z/min_velocity (double)
Minimum angular velocity (in rad/s). Setting this to 0.0 will disable counter-clockwise rotation. When unspecified, -max_velocity is used.
angular/z/has_acceleration_limits (bool, default: false)
Whether the controller should limit angular acceleration.
angular/z/max_acceleration (double)
Maximum angular acceleration (in rad/s^2).
angular/z/min_acceleration (double)
Minimum angular acceleration (in rad/s^2). When unspecified, -max_acceleration is used.
angular/z/has_jerk_limits (bool, default: false)
Whether the controller should limit angular jerk.
angular/z/max_jerk (double)
Maximum angular jerk (in m/s^3).
enable_odom_tf (bool, default: true)
Whether to publish to TF directly.
wheel_separation (double)
The distance of the left and right wheel(s). The diff_drive_controller will attempt to read the value from the URDF if this parameter is not specified.
wheel_radius (double)
Radius of the wheels. It is expected they all have the same size. The diff_drive_controller will attempt to read the value from the URDF if this parameter is not specified.
odom_frame_id (string, default: "/odom")
Name of frame in which to publish odometry.
publish_cmd (bool, default: false)
Publish the velocity command to be executed. It is to monitor the effect of limiters on the controller input.
allow_multiple_cmd_vel_publishers (bool, default: false)
When enabled the controller will brake if there is more than one publishers on its input topic, ~/cmd_vel.
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