Re: ROS RoboClaw Support
Posted: Wed May 24, 2017 10:28 am
I see you emailed support for the ROS driver. We will be sending it out to the people who requested it later today or tomorrow.
Hi,Basicmicro Support wrote: ↑Wed Mar 29, 2017 7:47 pmI just spent the last two days trying to setup ROS on available systems(a BananaPi and RaspberryPi 2 we had). I may finally have one of them working.
I've also spent time reading through the ROS wiki and figuring out how it all works. Based on what I've read whether you use python code or C++ code, in regards to working with the Roboclaw, doesnt really matter. The bottleneck is the communications rate to/from the Roboclaw. So unless you are using a much lower powered processor than I think you can actually use with ROS(eg R-Pi seems to be the bare minimum) I dont see any particular advantage of C++ over Python. That is only the case in regards to communicating to the Roboclaw of course. Other parts of ROS where heavy computing may be required I can see the advantages of C++.
From the readme.md included with the ROS driver:
/cmd_vel [(geometry_msgs/Twist)](http://docs.ros.org/api/geometry_msgs/h ... Twist.html)
Velocity commands for the mobile base.
Odometry output from the mobile base.
As you can see it has both a cmd_vel subscriber and a odom publisher. I've looked through the code and I dont see any reason the odom code would not be functioning. I will be doube checking it when I update the roboclaw.py library code though. Assuming I can get this RPi2 running ROS properly that should be sometime tomorrow.