DualBLDCDriverROS

Dual BLDC Driver (Magistral V2) Ros Hardware Interface Package This package is created for building ros hardware interface of [Dual BLDC Driver Magistral V2] (https://sinusoidal.com.tr/magistralv2/).

Contains

This package contains hardware interface source and header files to interface ros_control package.

Package contains

• Communication Driver as comm_driver.cpp,
• Checksum Calculation for Stm32 as crc32.cpp,
• Hardware Interface as dual_driver.cpp and Driver node to be launched as sinusoidaldriver_node.cpp

Connection

Dual BLDC Driver (Magistral V2) Connection Diagram

Requirements

Package created and tested with ROS Noetic. Necessary ros packages,

• serial
• controller_manager
• geometry_msgs
• hardware_interface
• controller_interface
• roscpp
• rosparam_shortcuts
• std_msgs
• urdf
• joint_limits_interface
• diff-driver-controller
• move-base (optional)
• rqt-controlller-manager (optional)
• key-teleop (optional)

Installation

• Clone the repository into catkin workspace's src folder.
• catkin_make
• source devel/setup.bash
• roslaunch sinusoidaldriver sinusoidaltest.launch

Test

• rosrun key_teleop key_teleop.py /key_vel:=/mobile_base_controller/cmd_vel
• rosrun rqt_gui rqt_gui

Parameter Files

• Under src/sinusoidaldriver/config there are 2 .yaml files.
  • control.yaml file,
    • left_wheel -> joint name from urdf,
    • right_wheel -> joint name from urdf,
    • publish_rate -> must be same with driver setting,
    • wheel_seperation -> must be filled in meters
    • wheel_radius -> must be filled in meters
  • driver.yaml file,
    • left_wheel_name -> joint name from urdf,
    • right_wheel_name -> joint name from urdf,
    • baudrate -> 115200 (fixed),
    • device -> "/dev/ttyUSBX" X must be changed,
    • hall_counts_per_rev -> motor pole count * 6
    • driver_loop_rate -> must be same with driver setting,
    • left_wheel_reversed -> if motor reversed set true,
    • right_wheel_reversed -> if motor reversed reversed set true.