COMS Steering

Description

Package for controlling the steering wheel for the COMS EV project.

Dependencies

• serial

Building and Running

$ cd ~/ros/catkin_ws/src
$ git clone https://github.com/naoki-mizuno/coms_steering
$ cd ~/ros/catkin_ws
$ catkin_make
$ rosrun coms_steering coms_steering_node

Parameters

• port: port that the actuator is connected to
• baudrate: baud rate of the actuator
• frequency: frequency at which to publish the angle message
• origin_offset: pulse count between the mechanical and electrical origin`
• limit_ccw: [maximum CCW rotation angle in radians, pulse count at that point]
• limit_cw: [maximum CW rotation angle in radians, pulse count at that point]

Subscribed topics

• cmd_steer: commands the steering wheel angle in radians

Published topics

• angle: current angle of the steering wheel in radians

License

MIT

Author

Naoki Mizuno