Motor control card driver

Apply motor regulation on left and right motor using a PID regulator. Setpoint are read from the /cmd_vel topic. This node also send back odometry and transform of the base_link.

Setup repository

This repository uses git submodules. To clone this repository with all its submodules, proceed like so:

git clone --recurse-submodules -j8 https://gitlab.clubelek.fr/cdf2020/microcontrollers/motors-control-card/motors-control-card-driver.git

Update submodules

If you want to fetch the changes for the submodules, use the command git submodule update

Prerequisites

ROS Install

• Install a version of ROS1, see ROS installation.
• Install rosserial-python for your ROS distribution, for example:

sudo apt-get install ros-noetic-rossserial-python

Hardware preparation

Add the rules to read/write to the STM32 Nucleo F303k8

sudo cp 99-stm-nucleo.rules /etc/udev/rules.d/

How to run

pio run --target upload

In one terminal, source ROS setup file and run the roscore:

source /opt/ros/noetic/setup.bash
roscore

In another terminal, run rosserial-python to handle the STM32 node:

source /opt/ros/noetic/setup.bash
rosrun rosserial_python serial_node.py /dev/ttyACM0