ROS package for ZLAC8015D dual-channel servo driver

The latest repository is below.
https://github.com/Alpaca-zip/zlac8015d_ros.git

1 Installation

Not recommended for git clone https://www.ikko-lab.k.hosei.ac.jp/gitbucket/git/tsukuba2022/zlac8015d_ros.git.

$ cd catkin_ws/src 

$ git clone https://github.com/Alpaca-zip/zlac8015d_ros.git

$ cd .. && catkin_make

2 Change full pathname of parameter file

scripts/motor_driver_node.py refers to /home/ubuntu/catkin_ws/src/zlac8015d_ros/params/motor_driver_params.yaml as default.
If you want to specify a different full pathname, change line 34 in scripts/motor_driver_node.py

3 Usage

Run motor_driver_node

$ rosrun zlac8015d_ros motor_driver_node.py

Parameters

• port: Name of the zlac8015d port. Default is dev/ttyUSB0.
• travel_in_one_rev: Tire circumference. Default is 0.655[m].
• R_Wheel: Tire radius. Default is 0.105[m].
• cpr: CPR(Counts Per Revolution). Default is 16385.
• wheels_base_width: Distance between tires. Default is 0.440[m].
• control_mode: 1 is relative position control mode, 3 is speed rpm control mode. Default is 3.
• callback_timeout: Motor automatically stops if no topics are received for a certain period of time. Default is 0.5[s].
• 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.
• set_accel_time_left: Acceleration time for left tire. Default is 200[ms].
• set_accel_time_right: Acceleration time for right tire. Default is 200[ms].
• set_decel_time_left: Deceleration time for left tire. Default is 200[ms].
• set_decel_time_right: Deceleration time for right tire. Default is 200[ms].
• max_left_rpm: Maximum rpm of left tire. Default is 150.
• max_right_rpm: Maximum rpm of right tire. Default is 150.
• deadband_rpm: Width of rpm to be regarded as 0. If 3, then -3 to 3 is considered rpm 0. Default is 3.
• TF_header_flame: Header flame of TF. Default is odom.
• TF_child_flame: Child flame of TF. Default is base_link.
• odom_header_flame: Header flame of odom. Default is odom.
• odom_child_flame: Child flame of odom. Default is base_link.

Topics

This node publishes the following topics.

• /wheels_rpm: The speed in RPM of each tire as [left, right].
• /odom: Odometry data for the robot. More detail

This node subscribes to the following topics.

• /zlac8015d/twist/cmd_vel: Send command as linear velocity and angular velocity in speed rpm control. More detail
• /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.
• /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.
• /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.
• /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.