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Using a Raspberry Pi Motor Driver Board

asked 2016-12-23 14:29:04 -0500

chambana gravatar image

I recently purchased a Motor Driver board for my Raspberry Pi (This board: http://www.waveshare.com/wiki/RPi_Mot... ).

In general, when making ROS robots using Raspberry Pi Motor driver boards, is one expected to write code to translate movement-related ROS messages into appropriate GPIO outputs for the motor controller (e.g. to move forward, turn, etc)? Or is there a "go-to" RPi motor controller module in ROS that most people use? For context, I understand how to control a simulated ROS robot in Gazebo and how to control a Pioneer P3 robot in real-world using ROS, but I'm unclear how people are controlling RPi motor controllers using ROS. Any help is appreciated!

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answered 2016-12-23 14:49:27 -0500

updated 2016-12-23 14:50:39 -0500

Some will depend on how you control the motors. If you use PWM then something like the i2cpwm_board package ( http://bradanlane.gitlab.io/ros-i2cpw... ) lets you control standard RC servos directly as well as DC motors via PWM motor controllers. The i2cpwm_board package was developed for RPi projects.

If you need encoders for the drive wheels or for joints, that adds to the solution. (I2cpwm_board does not support encoders.)

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Asked: 2016-12-23 14:29:04 -0500

Seen: 1,475 times

Last updated: Dec 23 '16