Configuration

Before running the driver, check and edit the configuration files in the config/ directory.

rbq_params.yaml:
- Set the serial port (e.g., /dev/ttyACM0 ) and baud rate.
- Set your robot's physical properties (wheelbase, wheel diameter, gear ratio).
- Configure odometry settings (topics, frames).
- Set the publish rate (e.g., 5.0 [Hz]).
query.yaml :
- Define which telemetry data you want to receive from the controller.
- The RoboteQ driver is designed to be dynamic and users can publish the controller queries as
  per their requirements. The publishing queries is not limited to any value. By default total 9
  queries are published by launching this driver. Users can change or add queries in configuration
  file.

Launching

# Check permissions
ls -l /dev/ttyACM0
# Grant read/write permissions if necessary
sudo chmod 666 /dev/ttyACM0

2. Launch the node

cd ~/ros2_ws
source install/setup.bash
ros2 launch rbq_driver_node driver.launch.xml

You should see logs indicating successful initialization and configuration query.

ROS API reference

Topic Name	Message Type	Description
/read	std_msgs/msg/String	Raw serial string received from the controller
/odom	nav_msgs/msg/Odometry	Calculated odometry with covariance matrices
/tf	tf2_msgs/msg/TFMessage	Transform from odom to base_link
/<query_name>	rbq_driver_msgs/msg/ChannelValues	Telemetry data defined in query.yaml
/<flag_name>	std_msgs/msg/String	Flag data(?FF,?FM,?FS) converted to strings
/cmd_vel	geometry_msgs/msg/Twist	Velocity command of the robot
/config_service	ConfigSrv	Sends configuration commands(^). Saves to EEPROM.
/command_service	CommandSrv	Sends runtime commands(!). 0,1 or 2 arguments
/maintenance_service	MaintenanceSrv	Sends maintenance commands(%), Handles safety keys
/query_service	QuerySrv	Sends(?,~) and returns the response synchronously

Examples

ULV Drives