Axioma package test to connect to motors

Run

1. Setup environment variables:

    . ~/utadeo_ws/install/setup.bash
   

2. run the axioma node:

    ros2 lrun axioma_node axioma_node
   

3. other console (to command the robot) ros2 run rqt_robot_steering rqt_robot_steering

4. other console (to view the state of the motors) ros2 topic echo /joint_states

Install

Assuming that the appropriate ROS2 (Foxy) version is already installed:

1. Install rthe required packages.

    sudo apt install ros-foxy-rqt-robot-steering ros-foxy-robot-state-publisher ros-foxy-joy ros-foxy-joy-linux ros-foxy-joy-teleop
    pip3 install pyserial
   

2. Go to your colcon workspace scooby_description and scooby_package cd ~catkin_ws/src

3. Clone axioma_node:

    git clone https://github.com/olmerg/axioma_robot.git
   

4. Build and install:

    cd ~/utadeo_ws
    colcon build
   

5. add serial conection to your user in linux (if it can not find serial port it will enter in simulation mode): dialout group to the user:

    sudo usermod -a -G dialout name_user
   

6. check arduino mega is connected with the firmware:

    ls /dev/ttyACM*
   

Robot with Arduino Mega:

Materials:

1. Arduino Mega 2560
2. low cost encoders (https://www.mactronica.com.co/sensor-encoder-optico-hc-020k) BAD IDEA
3. motor driver TB6612FNG (https://www.mactronica.com.co/driver-tb6612fng-control-motor-paso-a-paso)
4. small car 2wd (https://www.mactronica.com.co/carro-robotico-smart-car-v2)