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A repository starting from the SURF2023 Project work getting the APRS Conveyor belt control working with ROS

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usnistgov/aprs-ros-conveyor

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APRS ROS2 Conveyor Package

ROS2 package for controlling the conveyor belt in the NIST APRS Lab

Package Descriptions

  • conveyor_interfaces: Contains ROS msgs and srvs for inter node communication
  • conveyor_controller: Contains source code for the ROS2 node to enable the conveyor and modify its speed and direction

Installation

  • Create a container containing ROS2 on docker desktop

  • Run container in VSCode

  • Clone this package with:

    git clone https://github.com/usnistgov/aprs-ros-conveyor.git

Instructions for Running the Node

  1. Cd to host directory

  2. Build the package with: colcon build

  3. Source the package with: source install/setup.bash

  4. Run the node with: ros2 run conveyor_controller conveyor_controller

  5. In a new terminal, set the variables with: ros2 topic echo /conveyor/state --once

  6. In the same terminal, enable the conveyor with: ros2 service call /conveyor/enable conveyor_interfaces/srv/EnableConveyor "{enable: true}"

  7. Set the speed and direction with: ros2 service call /conveyor/set_state conveyor_interfaces/srv/SetConveyorState "{speed: 50.0, direction: 1}"

  8. Speed must be 0 < x < 100

  9. Direction must be 0 or 1 for Forward and Reverse respectively

  10. In a new terminal, get topic status with: ros2 topic echo /conveyor/state

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A repository starting from the SURF2023 Project work getting the APRS Conveyor belt control working with ROS

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