ROSbot 2 driver

This repository contains driver for ROSbot 2. Driver allows for controlling motors, reading odometry and battery state.

Installation

• Copy code to Husarion Cloud or build it with VSCode plugin
• Upload to CORE2
• Start serial bridge /opt/husarion/tools/rpi-linux/ros-core2-client /dev/ttyCORE2

Subscribed topics

• /cmd_vel [geometry_msgs::Twist] - velocity commands for robot
• /reset_odom [std_msgs::Bool] - trigger to reset odometry and encoders

Published topics

• /pose [geometry_msgs::PoseStamped] - robot position and orientation based on encoder readings
• /battery [sensor_msgs::BatteryState] - robot battery voltage