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Roboclaw

Roboclaw is an extensible series of Roboclaw nodes for ROS

Features

  • The base node "roboclaw_node" supports up to 8 Roboclaw controllers using packet serial mode
  • Drive systems and odometry are decoupled from the base Roboclaw node
  • A differential drive node is supported out of the box
  • Written in roscpp for effecient memory usage and performance

Requirements

  • ROS Kinetic/Lunar/Melodic

Nodes

roboclaw_node

Parameters

Param Type Description
serial_port string Path to the serial port to use
baudrate int Baudrate of the serial port
roboclaws int Number of Roboclaw controllers in packet serial mode

Topics

Action Topic Type
publish motor_enc_steps roboclaw/RoboclawEncoderSteps
subscribe motor_cmd_vel roboclaw/RoboclawMotorVelocity

Notes

  • When using one Roboclaw controller, configure it in packet serial mode with address 0x80. This will be motor index 0 in RoboclawEncoderSteps and RoboclawMotorVelocity.
  • When using more than one Roboclaw controller, configure them in packet serial mode with 0x80 being motor index 0, 0x81 being motor index 1, and so on.

diffdrive_node

Parameters

Param Type Description
steps_per_meter string Number of encoder steps per meter
base_width int Diameter of the robots base from the center of each wheel
swap_motors bool Swap motor1 with motor2
invert_motor_1 bool Invert drive and odometry for motor1
invert_motor_2 bool Invert drive and odometry for motor2

Topics

Action Topic Type
publish odom Odometry
subscribe cmd_vel Twist

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ROS Roboclaw Multi-Controller Nodes

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