my_robot_esp32_ros

Description

my_robot_esp32_ros is a Platformio package designed for low-level control of a unicycle robot. This package uses an ESP32 board to control a DBH-12 motor controller and enables communication with a differential drive hardware interface (hardware_interface) from ROS2_control.

Features

• Microcontroller: ESP32
• Motor Controller: DBH-12
• Interface: ROS2_control for differential drive systems
• Robot Type: Unicycle robot

Functionality

• Motor control using commands sent from ROS 2.
• Integration with ROS2_control to ensure compatibility with the ROS 2 differential control stack.
• Real-time transmission of motor feedback and system states.

Installation

1. Install Platformio: If you don't have Platformio installed yet, you can install it via the VSCode extension or using the command line:

   pip install platformio

2. Clone the repository:

   git clone <repository_link>
   cd my_robot_esp32_ros

3. Configure and upload the firmware:

   • Connect the ESP32 to your computer.
   • To compile and flash the firmware onto the ESP32, run:

   platformio run --target upload

Usage

Once the firmware is installed on the ESP32, you can establish communication with ROS 2 by launching the ROS2_control node, which will manage the unicycle robot’s movement commands via the ROS interface.

ROS2_control Configuration

To use this package with ROS 2, make sure you have configured a differential-type interface in your ROS2_control configuration file.

Dependencies

• Platformio
• ESP32 Platform
• ROS2_control

License

This project is licensed under the MIT License.

Contributors

• Axel NIATO - Lead Developer