2、Robot information release

After the program runs, the ROS expansion board will return real-time data, including voltage and IMU data. Connecting the car encoder can also obtain the speed of the car.

1、start mode

Taking our company's Rosmaster-X3 as an example, the terminal enters the following command to start，

ros2 run yahboomcar_bringup Mcnamu_driver_X3

2、View topic nodes

Enter the command at the terminal，

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ros2 topic list

3、Reading Topic Data

If you want to read the voltage value, you need to enter the following command at the terminal，

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ros2 topic echo /voltage

4、Publish topic data

To publish/cmd_ Taking speed data as an example, terminal input，

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ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.5, y: 0.0, z:0.0}, angular: {x: 0.0, y: 0.0, z: 0.2}}"

5、Source code parsing

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from Rosmaster_Lib import Rosmaster #Import Driver Library
self.car = Rosmaster() #Instantiating Rosmaster objects
#create subcriber 创建订阅者
self.sub_cmd_vel =
self.create_subscription(Twist,"cmd_vel",self.cmd_vel_callback,1)
self.sub_RGBLight =
self.create_subscription(Int32,"RGBLight",self.RGBLightcallback,100)
self.sub_BUzzer =
self.create_subscription(Bool,"Buzzer",self.Buzzercallback,100)
#create publisher  
self.EdiPublisher = self.create_publisher(Float32,"edition",100)
self.volPublisher = self.create_publisher(Float32,"voltage",100)
self.staPublisher = self.create_publisher(JointState,"joint_states",100)
self.velPublisher = self.create_publisher(Twist,"vel_raw",50)
self.imuPublisher = self.create_publisher(Imu,"/imu/data_raw",100)
self.magPublisher = self.create_publisher(MagneticField,"/imu/mag",100)
#Call the library to read the information of the ROS expansion board
edition.data = self.car.get_version()*1.0
battery.data = self.car.get_battery_voltage()*1.0
ax, ay, az = self.car.get_accelerometer_data()
gx, gy, gz = self.car.get_gyroscope_data()
mx, my, mz = self.car.get_magnetometer_data()
vx, vy, angular = self.car.get_motion_data()
#Publish topic data
self.imuPublisher.publish(imu)
self.magPublisher.publish(mag)
self.volPublisher.publish(battery)
self.EdiPublisher.publish(edition)
self.velPublisher.publish(twist)
#Subscriber callback function
def cmd_vel_callback(self,msg)
def RGBLightcallback(self,msg)
def Buzzercallback(self,msg):

Please refer to the following path code for detailed code:~/driver_ws/src/yahboomcar_bringup/yahboomcar_bringup/Mcnamu_driver_X3.py