This node allows to get serial communication working between hardware and ROS2.
It can manage:
- joints
- odometry
- imu
- battery
To run:
ros2 run ros2_amr_interface amr_interface_node
if you need to change serial port and remap a topic:
ros2 run ros2_amr_interface amr_interface_node --ros-args -p port_name:=<your port> --remap /amr/cmd_vel:=/cmd_vel
Here a scheme of communication messages:
Copyright (c) 2022 G. Bruno under MIT license