Carve RC

A ROS 2 Humble python driver for a Jetson connected RoboClaw rover

Specifically designed for:

• one RoboClaw for the left wheel pair
• one RoboClaw for the right wheel pair
• one RoboClaw for two independent bucket drums

Features

• subscribes to /cmd_vel for skid steer drive commands
• subscribes to /bucket_front/cmd_vel and /bucket_back/cmd_vel for the bucket drums
• publishes /odom
• publishes /joint_states
• publishes /carve_rc/status as diagnostic_msgs/msg/DiagnosticArray
• provides /stop_motors as std_srvs/srv/Trigger
• stops motors on command timeout and on shutdown
• probes configured controllers at startup and after reconnects
• can optionally publish odom -> base_link TF

Configuration

python3 configure.py

Build

source /opt/ros/humble/setup.bash
colcon build --base-paths ~/carve_rc
source install/setup.bash

Launch

source /opt/ros/humble/setup.bash
source install/setup.bash
ros2 launch carve_rc carve_rc.launch.py

Enable TF publishing if needed:

ros2 launch carve_rc carve_rc.launch.py --ros-args -p publish_tf:=true

Interfaces

Subscriptions:

• /cmd_vel (geometry_msgs/msg/Twist)
• /bucket_front/cmd_vel (std_msgs/msg/Float64)
• /bucket_back/cmd_vel (std_msgs/msg/Float64)

Publications:

• /odom (nav_msgs/msg/Odometry)
• /joint_states (sensor_msgs/msg/JointState)
• /carve_rc/status (diagnostic_msgs/msg/DiagnosticArray)

Services:

• /stop_motors (std_srvs/srv/Trigger)

Test

ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.2}, angular: {z: 0.0}}"
ros2 topic pub /bucket_front/cmd_vel std_msgs/msg/Float64 "{data: 1.0}"
ros2 topic pub /bucket_back/cmd_vel std_msgs/msg/Float64 "{data: 1.0}"
ros2 service call /stop_motors std_srvs/srv/Trigger "{}"