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ROS BeagleBone Blue Drivers for various components

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bbblue_drivers

some ROS drivers for the Beaglbone Blue

WIP!!! Ugly code included!!!

The drivers use the librobotcontrol library by StrawsonDesign

Nodes overview

  • differential driver node using the onboard motor ports
  • publisher for IMU messages from MPU9250
  • publisher for battery state

Table of contents

Installation

TODO

Usage

Differential motor driver

Parameter

and default values

  • ~left_motor = 1
  • ~right_motor = 2
  • ~timeout = 5
  • ~maxspeed = 0.4
  • ~minspeed = 0.1
  • ~wheelbase = 0.2
  • ~turnspeed = 1
  • ~duty_factor = 1 - velocity to PWM duty cycle factor (simple linear approach)

Run

rosrun bbblue_drivers diff_motor_driver

rosrun bbblue_drivers diff_motor_driver _left_motor:=3 _right_motor:=4 _minspeed:=0.137 _maxspeed:=0.364 _duty_factor:=2.2

Publish to cmd_vel manually

`rostopic pub -1 /cmd_vel geometry_msgs/Twist -- '[1.0, 0.0, 0.0]' '[0.0, 0.0, 0]'``

Battery state node

Parameter

and default values

  • ~power_supply_technology = 3
  • ~min_cell_voltage = 3.3 ( 0% )
  • ~max_cell_voltage = 4.15 ( 100% )

Run

rosrun bbblue_drivers battery_state

IMU node

Parameter

and default values

  • ~frame_id = imu_link
  • ~linear_acceleration_stddev = 0.04
  • ~angular_velocity_stddev = 0.02
  • ~orientation_stddev = 0.0025
  • ~magnetometer_stddev = 0.04

covariances used from razor_imu_9dof https://github.com/KristofRobot/razor_imu_9dof/blob/indigo-devel/nodes/imu_node.py

Run

Start the IMU node

rosrun bbblue_drivers imu_pub_node

Visualizing IMU with rviz

A static transformation is required:

rosrun tf static_transform_publisher 0.0 0.0 0.0 0 0 0 map imu_link 10

The Beaglebone Blue has no display port. So for visualization an aditional system is required.

export ROS_MASTER_URI=http://rosbot:11311

Starting rviz after exporting the MASTER usxbrix

rviz

red - x green - y blue -z

optional IMU tools

sudo apt-get install ros-melodic-imu-tools

rosrun imu_filter_madgwick imu_filter_node

Contributing

Pull requests and issues are welcome.

Credits

librobotcontrol

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