pololu_ros

This is a ROS driver for the Pololu Simple Motor Controller. It uses the Pololu Protocol to communicate over serial to control a motor.

For a project I am working on, we are using the daisy chain configuration. If you want standard behavior, you will have to rewrite the Daisy chain so that multiple objects don't share a port. I am planning on doing that later because it would be easy. If you are interested in this, raise an issue and I can work on that. Or you can submit a pull request.

pololu_node

Subscribed Topics

/emcee/arm/vel (std_msgs/Float32)
Command to control the arm linear actuators. Expects -1.0 to 1.0

/emcee/bucket/vel (std_msgs/Float32)
Command to control the bucket linear actuators. Expects -1.0 to 1.0

/emcee/pinion/vel (std_msgs/Float32)
Command to control the pinion for the rack and pinion. Expects -1.0 to 1.0

Package overview

The low level driver for this package is in the src directory. It is setup for a Daisy chain configuration, so all motors share the same serial connection and all commands are sent with the device number and motors ignore commands not directed to them.

The ros specific code for this package is in the nodes directory. This starts a ros node and subscribes to topics to control the motors using the Daisy chain driver.