Nodo para uso con ROS2 Humble #4
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Nodo de Python junto con el archivo de Arduino para su uso con ROS2 Humble.
Explains how to setup and use the ROS2 node.
Se han ordenado una serie de variables, actualizado el formato de datos mostrados por terminal y quitado errores.
Se incluye el URDF del Open UMA Rov para posteriores simulaciones
Now the Rover works flawlessly without any interruption or delays
This content must be placed in your "nav2_brigup" directory.
Se introduce un filtro digital para obtener una respuesta más suave debido a que en cambios bruscos de consigna el controlador no era capaz de alcanzar esta consigna debido al elevado error provocado.
Updated the PI in the Arduino code and added a digital filter to smooth the PWM signal sent to the motors in order to avoid an unstable system. The ROS2 node now receives information from the Arduino with information about the encoders. This information is later published in newly made topics.
Updated ROS2 Node to lower the spin frequency and updated to Arduino code to have lower latency by updating the digital filter
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Nodo de Python junto con el archivo de Arduino para su uso con ROS2 Humble.