| | # ROS package for ZLAC8015D dual-channel servo driver |
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| | The latest repository is below. |
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| | [https://github.com/Alpaca-zip/zlac8015d_ros.git](https://github.com/Alpaca-zip/zlac8015d_ros.git) |
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| | [](https://www.ikko-lab.k.hosei.ac.jp/gitbucket/git/tsukuba2022/zlac8015d_ros) |
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| | ## 1 Installation |
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| | Not recommended for `git clone https://www.ikko-lab.k.hosei.ac.jp/gitbucket/git/tsukuba2022/zlac8015d_ros.git`. |
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| | ``` |
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| | $ cd catkin_ws/src |
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| | $ git clone https://github.com/Alpaca-zip/zlac8015d_ros.git |
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| | $ cd .. && catkin_make |
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| | ``` |
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| | ## 2 Change full pathname of parameter file |
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| | `scripts/motor_driver_node.py` refers to `/home/ubuntu/catkin_ws/src/zlac8015d_ros/params/motor_driver_params.yaml` as default. |
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| | If you want to specify a different full pathname, change line 34 in `scripts/motor_driver_node.py` |
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| | ## 3 Usage |
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| | ### Run motor_driver_node |
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| | ``` |
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| | $ rosrun zlac8015d_ros motor_driver_node.py |
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| | ``` |
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| | ### Parameters |
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| | - `port`: Name of the zlac8015d port. Default is `dev/ttyUSB0`. |
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| | - `travel_in_one_rev`: Tire circumference. Default is `0.655`[m]. |
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| | - `R_Wheel`: Tire radius. Default is `0.105`[m]. |
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| | - `cpr`: CPR(Counts Per Revolution). Default is `16385`. |
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| | - `wheels_base_width`: Distance between tires. Default is `0.440`[m]. |
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| | - `control_mode`: `1` is relative position control mode, `3` is speed rpm control mode. Default is `3`. |
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| | - `callback_timeout`: Motor automatically stops if no topics are received for a certain period of time. Default is `0.5`[s]. |
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| | - `decimil_coefficient`: Must be specified in digits. Smaller values will cause small changes in tire motion to have a greater impact on the odometry calculations. `0.01` or `0.001` is highly recommended. Default is `0.001`. |
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| | - `set_accel_time_left`: Acceleration time for left tire. Default is `200`[ms]. |
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| | - `set_accel_time_right`: Acceleration time for right tire. Default is `200`[ms]. |
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| | - `set_decel_time_left`: Deceleration time for left tire. Default is `200`[ms]. |
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| | - `set_decel_time_right`: Deceleration time for right tire. Default is `200`[ms]. |
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| | - `max_left_rpm`: Maximum rpm of left tire. Default is `150`. |
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| | - `max_right_rpm`: Maximum rpm of right tire. Default is `150`. |
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| | - `deadband_rpm`: Width of rpm to be regarded as 0. If `3`, then -3 to 3 is considered rpm 0. Default is `3`. |
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| | - `TF_header_flame`: Header flame of TF. Default is `odom`. |
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| | - `TF_child_flame`: Child flame of TF. Default is `base_link`. |
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| | - `odom_header_flame`: Header flame of odom. Default is `odom`. |
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| | - `odom_child_flame`: Child flame of odom. Default is `base_link`. |
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| | ### Topics |
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| | This node publishes the following topics. |
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| | - `/wheels_rpm`: The speed in RPM of each tire as [left, right]. |
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| | - `/odom`: Odometry data for the robot. [More detail](http://docs.ros.org/en/diamondback/api/nav_msgs/html/msg/Odometry.html) |
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| | This node subscribes to the following topics. |
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| | - `/zlac8015d/twist/cmd_vel`: Send command as linear velocity and angular velocity in speed rpm control. [More detail](https://docs.ros.org/en/diamondback/api/geometry_msgs/html/msg/Twist.html) |
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| | - `/zlac8015d/vel/cmd_vel`: Send command as velocity in speed rpm control, e.g. [0.6, 0.5] 0.6[m/s] of left tire, 0.5[m/s] of right tire. |
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| | - `/zlac8015d/vel/cmd_rpm`: Send command as rpm in speed rpm control, e.g. [100, 50] 100 rpm of left wtire, 50 rpm of right tire. |
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| | - `/zlac8015d/pos/deg_cmd`: Send command as angle degree in position control, e.g. [90,70] 90 [deg] of left tire, 70 [deg] of right tire. |
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| | - `/zlac8015d/pos/dist_cmd`: Send command as desired travelling distance in position control, e.g. [1.0, 1.0] for 1[m] travelling distance of each tire. |
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