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Sample to realize differential two-wheeler using two KeiganMotor.
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Tomohiro Takata
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README.md

km_dolly - ROS package for KM-1 Dolly Kit

Introduction

Sample to realize differential two-wheeler using two KeiganMotor.

Requirements

  • ROS Kinetic
  • pykeigan_motor v2.1.0 or above

https://github.com/keigan-motor/pykeigan_motor/

How to use

Install

    cd ~/catkin_ws/src/
    git clone https://github.com/keigan-motor/ros_km_dolly_simple
    cd ~/catkin_ws/
    catkin_make

Set the motor address in the launch file.

Connect the motor with USB and check the motor address with the following command.

$ls /dev/serial/by-id/

Change the following in km_control_usb.launch(~/catkin_ws/src/km_dolly/src/launch)

<arg name="right_w_addr" value="/dev/serial/by-id/usb-FTDI_FT230X_Basic_UART_DM00KHAH-if00-port0" />
<arg name="left_w_addr" value="/dev/serial/by-id/usb-FTDI_FT230X_Basic_UART_DM00LSSA-if00-port0" />

Run

$ roslaunch km_dolly km_control_usb.launch

Operation(teleop_twist_keyboard)

-------------------------------------------
    u(Forward left)    i(Forward)    o(Forward right)

    j(Rotate left)  k(Stop)    l(Rotate right)

    m(Left backward)    ,(Backward)    .(Right backward)

-------------------------------------------

    q/z:Maximum speed (increase/decrease ±10%)
    w/x:Linear velocity (±10%)
    e/c:Angular velocity (±10%)

    Ctrl + C:Exit

See http://wiki.ros.org/teleop_twist_keyboard for detailed package description

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