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Brushless DC servo Motor

asked 2012-05-19 13:04:25 -0500

automagp68 gravatar image

updated 2012-05-19 15:33:35 -0500

Kevin gravatar image

Hello

I am very very very new to ROS so i apologize if this is a dumb question.

I have several 48 Volt DC brushless servo motors for a large scale robotics project. They take in 8 bit ascii command from an rs 232.

I have done some searching, but i was curious if anyone has seen any stack in ROS that would handle some input output on rs232 so i could read and write some commands to my motors. i.e read some joystick code in and output certain ascii commands based on joystick reads. Generic Joystick values coming from say the ubuntu joystick library

The motors have a proprietary program from the manufacture but it is terrible. We are using a linux system for the vehicle and i was curious if ROS has some solutions for us. As i said i apologize if this is not a correct post.

Thanks

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answered 2012-05-20 09:22:07 -0500

mjcarroll gravatar image

I think that William Woodall has written a pretty good serial library that can be used with ROS. It is available as a unary stack on Github.

This library just handles the basic serial transactions, which you can then wrap in your own ROS node.

There is an example of interfacing with an AX2550 motor controller as part of the Auburn-Automow Github account, if you are looking for a good reference for using the library.

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Yes that one is good too

Kevin gravatar image Kevin  ( 2012-05-20 14:39:47 -0500 )edit
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answered 2012-05-19 15:32:42 -0500

Kevin gravatar image

updated 2012-05-20 14:40:35 -0500

Please search the ROS packages for joysticks or whatever else you need. In some, but not all packages they have tutorials you can follow. Those should help get you going.

If serial is all you want, then there is a cerial package I have played with too that works good

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answered 2012-05-19 17:18:50 -0500

automagp68 gravatar image

Thanks

The Joystick is not what confuses me. I know the ubuntu joystick library and so on.

I am curious of ROS has a "stack" i think its called that handles RS232 Input and out without me having to write an entire C++ or C program

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yes there are serial stacks, search for that. RS232 and TTL are just how the serial comm gets done in the physical world --- you probably know that already. If you are doing serial with Arduino, there is a specific serial stack just for that ... just search around the link I gave you.

Kevin gravatar image Kevin  ( 2012-05-20 02:18:06 -0500 )edit

Am i just missing something? I can't seem to add a regular comment. I was trying to thank you both for the ideas but can't seem to even find a comment button other then right here. What gives?

automagp68 gravatar image automagp68  ( 2012-05-20 15:21:31 -0500 )edit

Am i just missing something?

automagp68 gravatar image automagp68  ( 2012-05-20 15:21:31 -0500 )edit

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Asked: 2012-05-19 13:04:25 -0500

Seen: 1,231 times

Last updated: May 21 '12