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using rosserial for interfacing to BLDC controller

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hi all, after googling alot, and really confusing, finally i found rosserial package which is my best bet to go for building my first robot from the scratch using ROS. link: http://wiki.ros.org/rosserial my NUC now installed with ubuntu 18.04. i'm considering to install ROS kinetic or melodic coz i'm really new to this field. probably i will go with kinetic coz roboware provide a nice IDE for a beginner like me. my basic problem, i'm sorry if i'm asking this very basic and old fashioned question: **is my choice for using rosserial package correct to interface the BLDC controller to drive the motors?** i have 1 BLDC controller, 24/48V, 50A, dual channel, support CANopen and RS232 through USB. the fty gave me the PDF files for CANopen protocol and RS232, so i understand for command A will result a reply or result a specific action (such as !p 1 10000 will produce motor channel 1 move forward CW 10,000 ticks. the motor is 200W BLDC with 2500PPR optical encoder). that's very promising for a beginner as that protocol enable an idiot like me to drive the motor using shell/bash script by accessing the port, sending text command, and read the string reply if any. so what should i do next to jump with ROS? modifying rosserial? or writing all those commands in somewhere? or using socketcan? or worst, i have to go through hard way, using serial (not rosserial) and create a HW driver for ros? please kindly give me a clue or guide which steps i should go. many thx in advance

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