zzangdol_bringup

Last Update : 23.12.23
Last Updated by : GeonhaPark ( Seunmul )

zzangdol-ai-car bringup packages

ROS bringup packages for zzangdol-ai-car, depends on ROS1.
Bring up below devices and exectue nodes:

• RPLidar A1
• MCU firmware(zzangdol-core-v1)
• MyAHRS+
• cmd_vel converter node

 roslaunch zzangdol_bringup zzangdol_bring_all.launch usb_config:=false record:=false

• usbconfig [required] : usb_config selects ports, true or false
• record [required] : When record option is true, it records bag files

2. Detail info

src / cmd_vel_converter.cpp

• converter node which converts cmd_vel to cmd_vel_converted topic
• cmd_vel converted topic is specific control value which is compatible with zzangdol-ai-car motor driver.

Other launch files can execute with below commands

roslaunch zzangdol_bringup [below_launch_file]

launch files

launch / zzangdol_bring_all.launch

• main bringup file for oprating zzangdol_ai_car

launch / zzangdol_bring_minimal.launch

• essential bringup file for testing senser data

launch / zzangdol_core.launch

• cmd_vel conveter, mcu nodes (rosserial) launch file

launch / zzangdol_lidar.launch

• lidar launch file
• needs rplidar_ros package https://github.com/robopeak/rplidar_ros

launch / zzangdol_myahrs.launch

• myahrs launch file
• needs myahrs_driver https://github.com/robotpilot/myahrs_driver

launch / zzangdol_state_publisher.launch

• zzangdol_car tf topic publisher node launch file

codes

src / cmd_vel_converter.cpp

• Converter node which converts cmd_vel and cmd_vel_ehco topic to firmware accessible data
• cmd_vel topic is command from move_base(Ros Navigation Stack)
• cmd_vel_converted topic is specific control value which is compatible with zzangdol-ai-car mcu nodes(Arduino Mega, 8bits integer type needs). Converts cmd_vel topic to cmd_vel_converted
• cmd_vel_echo topic is value which MCU is used to control DC Motor
• cmd_vel_echo_converted topic presents cmd_vel topic value from cmd_vel_echo(which depends on zzangdol-ai-car HW)
• float <-> int8