RoboMaster Core ROS2 Package

This ROS2 package provides an interface to control the DJI RoboMaster Base via ROS2. The robomaster_core node uses the robomaster_can_controller library to communicate with the RoboMaster motion controller over the CAN Bus interface.

Table of Contents

• Features
• Installation
• Usage
• Nodes
  • Parameters
  • Topics
  • Services
• Contributing
• License

Features

• Communication with RoboMaster base over CAN bus.
• Publishes odometry, IMU data, battery state, and joint states from the sensor data of the RoboMaster's motion controller.
• Subscribes to command velocity, wheel speed, and LED color commands to control the RoboMaster base.

Installation

1. Clone the repository:

   git clone git@gitlab.cc-asp.fraunhofer.de:iml/oe130/ROS2/robomaster/ros2/robomasterbase/robomaster_core.git

2. Install dependencies:

   rosdep install --from-paths src --ignore-src -r -y

3. Build the package:

   colcon build --symlink-install

Usage

1. Source the workspace:

   source install/setup.bash

2. Run the node:

   ros2 run robomaster_core robomaster_node

Nodes

RoboMaster Node

Node Name: robomaster

Parameters

Parameter Name	Type	Default Value	Description
can_interface	string	can0	CAN interface to use for communication with the RoboMaster motion controller.
prefix	string	rm	Prefix for frame ids. Useful when using multiple RoboMasters.
base_frame	string	base_footprint	Name of the base frame. Used for the odom header.frame_id.
odom_frame	string	odom	Name of the odometry frame. Used for the odom child_frame_id.
tf_wheel	bool	false	Publish wheel transformations. Useful when no robot state publisher is used.
tf_odom	bool	false	Publish odometry transformation.
odom_imu	bool	false	Use IMU for orientation instead of odometry.
pushup	bool	false	Activate to push up the command velocity for small values to get the RoboMaster moving.
cmd_vel_dji	bool	false	Pass command velocity directly to RoboMaster's motion controller instead of calculating the command velocity to wheel speed from the node. (Parameter depending on the RoboMaster DJI App).
velocity_linear_max	double	-1.0	Limit for maximum linear velocity. Value <= 0.0 for no limitation.
velocity_angular_max	double	-1.0	Limit for maximum angular velocity. Value <= 0.0 for no limitation.
acceleration_linear_max	double	-1.0	Limit for maximum linear acceleration. Value <= 0.0 to deactivate acceleration limitation.
acceleration_angular_max	double	-1.0	Limit for maximum angular acceleration. Value <= 0.0 to deactivate acceleration limitation.
enable_timeout	int	5	Timeout in seconds to disable the robot if no command is received. Zero or negative value disables the timeout.
servo1_range	array	[]	Angle range for servo 1 [min_angle, max_angle] (RoboMaster EP servos).
servo2_range	array	[]	Angle range for servo 2 [min_angle, max_angle] (RoboMaster EP servos).
servo3_range	array	[]	Angle range for servo 3 [min_angle, max_angle] (RoboMaster EP servos).
cov_imu_orientation	array	[0.0, 0.0, 0.0]	Covariance for IMU orientation (diagonal matrix order).
cov_imu_angular_velocity	array	[0.0, 0.0, 0.0]	Covariance for IMU angular velocity (diagonal matrix order).
cov_imu_linear_acceleration	array	[0.0, 0.0, 0.0]	Covariance for IMU linear acceleration (diagonal matrix order).
cov_odom_pose	array	[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]	Covariance for odometry pose (diagonal matrix order).
cov_odom_twist	array	[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]	Covariance for odometry twist (diagonal matrix order).

Topics

Topic Name	Type	Description
/cmd_vel	geometry_msgs/msg/Twist	Subscribes to command velocity.
/cmd_wheel_speed	sensor_msgs/msg/JointState	Subscribes to command wheel speed. Needs to set all joint names and velocities e.g., names ["fr", "fl", "rl", "rr"] and velocity [0.0, 0.0, 0.0, 0.0].
/led	std_msgs/msg/ColorRGBA	Subscribes to LED color command.
/imu	sensor_msgs/msg/Imu	Publishes IMU data.
/battery	sensor_msgs/msg/BatteryState	Publishes battery state.
/odom	nav_msgs/msg/Odometry	Publishes odometry data.
/joint_states	sensor_msgs/msg/JointState	Publishes joint states of the RoboMaster.
/servo1	std_msgs/msg/Float64	Subscribes to control the angle for servo 1.
/servo2	std_msgs/msg/Float64	Subscribes to control the angle for servo 2.
/servo3	std_msgs/msg/Float64	Subscribes to control the angle for servo 3.

Services

Service Name	Type	Description
/reset_odom	std_srvs/srv/Empty	Resets the odometry to zero.

Contributing

Contributions are welcome! Please open an issue or submit a pull request.

License

This project is licensed under the MIT License - see the LICENSE file for details.