Difference between revisions of "Motor Controller Rewrite"
From wikidb
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| + | = Build = | ||
| + | |||
| + | Additions to <tt>~/catkin_ws_indigo/src/phidgets_cat/CMakeList.txt</tt> | ||
| + | |||
| + | # motor_control_hc_nav | ||
| + | add_executable(motor_control_hc_nav src/motor_control_hc_nav.cpp) | ||
| + | target_link_libraries(motor_control_hc_nav | ||
| + | ${catkin_LIBRARIES} | ||
| + | phidget21 | ||
| + | ) | ||
| + | |||
= Test Execution = | = Test Execution = | ||
Revision as of 10:46, 20 September 2017
Build
Additions to ~/catkin_ws_indigo/src/phidgets_cat/CMakeList.txt
# motor_control_hc_nav
add_executable(motor_control_hc_nav src/motor_control_hc_nav.cpp)
target_link_libraries(motor_control_hc_nav
${catkin_LIBRARIES}
phidget21
)
Test Execution
Terminal 2
The motor_control_nav launch script executes the code associated with the motor_control_hc_nav.cpp code in the phidgets_cat package.
roslaunch floor_hugger motor_control_nav.launch
Terminal 3
roslaunch floor_hugger odometry.launch
Terminal 4
Take the place of the navigation stack by publishing a cmd_vel message of type Twist. It has linear.x value of 0.20 m/sec and an angular.z value of 0.1 radians/sec.
roscd floor_hugger/test/ python motors_go_full.py 0.20 0.1
motors_go_full.py <linear.x> <angular.z>
Terminal 5
Monitor resulting motor status with one of the following
rostopic echo odom rqt_plot /cmd_vel/linear/x /odom/twist/twist/linear/x /odom/twist/twist/linear/y
