Leo_firmware

ROS API

Subscribed topics

• cmd_vel (geometry_msgs/Twist)

  Target velocity of the Rover. Only linear.x (m/s) and angular.z (r/s) are used.

• servoX/angle (std_msgs/Int16)

  Angular position (in degrees) of servo X. Angle to pulse duration relationship is configurable through params.h file

• servoX/pwm (std_msgs/UInt16MultiArray)

  Pulse duration and period (in us). The values are passed through data array. Publishing to pwm topic overrides angle value and vice versa

Published topics

• odom (geometry_msgs/Twist)

  Current linear and angular velocities estimated from encoder readings

• battery (std_msgs/Float32)

  Current battery voltage reading

• joint_states (sensor_msgs/JointState)

  Current state of wheel joints. Effort is the percent of applied power (PWM duty)