GitHub - MalcolmMielle/ROS_driver_differential_drive: Differential Drive driver for faulhaber controller. Under ROS

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Name		Name	Last commit message	Last commit date
Latest commit History 2 Commits
config		config
include/motor_drivers		include/motor_drivers
launch		launch
src		src
CMakeLists.txt		CMakeLists.txt
CMakeLists.txt~		CMakeLists.txt~
Driver.png		Driver.png
Driver.uxf		Driver.uxf
Platform.uxf		Platform.uxf
README		README
README~		README~
package.xml		package.xml
package.xml~		package.xml~

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___________   ___.           __    __________                       
\__    ___/___\_ |__   _____/  |_  \______   \_____    ______ ____  
  |    | /  _ \| __ \ /  _ \   __\  |    |  _/\__  \  /  ___// __ \ 
  |    |(  <_> ) \_\ (  <_> )  |    |    |   \ / __ \_\___ \\  ___/ 
  |____| \____/|___  /\____/|__|    |______  /(____  /____  >\___  >
                   \/                      \/      \/     \/     \/ 
_________                __                .__  .__                
\_   ___ \  ____   _____/  |________  ____ |  | |  |   ___________ 
/    \  \/ /  _ \ /    \   __\_  __ \/  _ \|  | |  | _/ __ \_  __ \
\     \___(  <_> )   |  \  |  |  | \(  <_> )  |_|  |_\  ___/|  | \/
 \______  /\____/|___|  /__|  |__|   \____/|____/____/\___  >__|   
        \/            \/                                  \/       


Base controller of Tobot.

Driver to access Faulhaber motor controller + directing of a mobile base (differential driver) over ROS. Calcul of the odometry as well.

Subscriber to cmd_vel
Publisher to /odom

To launch : roslaunch tobotdrivers TobotDriver.launch

I put exception in case a base lexical boost thing happen. It happen before with the roslaunch. Never with the rosrun version...
You have to use roslaunch at least one so that the parameters are loaded.

Need libserial :  https://github.com/MalcolmMielle/libserial