TRIP-ROS2-interface

This repository contains a ROS2 node designed to interface with an Arduino board as part of a larger project. The node facilitates communication between the ROS 2 framework and the Arduino microcontroller, enabling seamless integration of sensor data, control commands, or any other relevant information between the two systems.

Requirements

• ROS2 Foxy or later

Installation

Clone this repository into your ROS2 workspace:

cd /path/to/your/ros2_workspace/src
git clone https://github.com/DavDori/TRIP-ROS2-interface.git

Build the ROS2 workspace

cd /path/to/your/ros2_workspace
colcon build

and source

source install/setup.bash

How to use it

Depending on the application, you can choose between controlling the motors directly, or take advantage of the unicycle model.

Direct Motor Control

You can control the velocity set-point for each motor via a ROS message of type sensor_msgs/JointState that can be published on the /joints_cmd topic. The command to launch the node is

ros2 run trip_interface trip_base

Unicycle Model

To control the robot with forward speed and angular velocity use

ros2 run trip_interface trip_unicycle

or

ros2 launch trip_interface trip.launch.py

In this case, you have to publish a message of type geometry_msgs/Twist on the /cmd_vel topic to set the deisred velocities.