ROS2 driver for lois_ecu
ROS Node for interfacing ECU PCB via Serial communication (termios character device driver).
- Realtime RPM measurement
- Realtime Torque measurement
- Realtime Heading measurement
- Control via Twist messages
- Odometry calculation
- Manipulation and storage of ECU runtime parameters (see config folder)
Clone this repository into Your ROS2 workspace and simply run colcon build.
cmd_vel (geometry_msgs::Twist)
linear.x and angular.z are supported
enable_rpmctrl (std_msgs::Bool)
Enables rpm controller. If disabled, cmd_vel linear.x is dutycycle and cmd_vel angular.z ist dutycycle delta.
rpm_request (std_msgs::UInt16MultiArray)
Requests rpm record in format: [samples left, samples right]. Maximum sample number is 1024. Publishes record to rpm_record topic. All running measurements are aborted.
heading_request (std_msgs::UInt32)
Requests heading record. Maximum sample number is 2056. Publishes record to heading_record topic. All running measurements are aborted.
ecu_params_request (std_msgs::Bool)
Triggers publishing of current ecu runtime parameters on ecu_params.
ecu_params (ecu::runtimeparameters)
ECU runtime parameters. See ini-File in config folder for format.
torque_request (std_msgs::UInt16MultiArray)
Requests torque record in format: [samples left, samples right]. Maximum samples are 1024. Publishes record to torque_record topic. All running measurements are aborted.
rpm_record (std_msgs::UInt16MultiArray)
Durations of hal encoder HIGH and LOW times, with 100us resolution. Format: [left_0, ..., left_n, right_0, ..., right_m] . The sample counts n and m are known from the request.
torque_record (std_msgs::UInt16MultiArray)
12-bit current measurements, accquired by averaging 100 samples. Period is 100ms. Format: [left_0, ..., left_n, right_0, ..., right_m] . The sample counts n and m are known from the request.
heading_record (std_msgs::Int16MultiArray)
Compass realtime samples from -180° to 180°. Format: [heading0, ..., heading_n] . The sample counts n is known from the request.
emergency_stop (diagnostic_msgs::DiagnosticStatus)
Emergency stop event. Release: level OK, Push: level ERROR
kvh_heading (std_msgs::Int32)
Perdiodic KVH-C100 compass heading.
gps_data (sensor_msgs::NavSatFix)
Perdiodic UBLOX GPS data
odom_wheel (nav_msgs::Odometry)
Periodic wheel odomery data, tf is also published if enabled.
ecu_params (ecu::runtimeparameters)
Current runtime parameters.
wheel_width_m (float, default: 0.5)
Robot width between wheel centers in m
wheel_radius_m (float, default: 0.13)
Wheel radius in m
encoder_steps (float, default: 66)
Encoder steps per revolution
port (string, default: "/dev/ttyUSB0")
baud (int, default: 115200)
odom_parent (string, default: "odom")
odom_child (string, default: "base_link")
configfile (string, default: "/home/jonas/lois/colcon_ws/lois_ecu/config/runtimeparameters.ini")