Welcome to ROSMASTER X3 repository

2. Robot information release

1. Program function description

After the program is run, combined with the ROS expansion board, you can obtain the sensor information on the ROS expansion board, control the movement of the car, control the light strip, buzzer and other functions.

2. Program code reference path

After entering the docker container, the location of the source code of this function is:

xxxxxxxxxx
~/yahboomcar_ros2_ws/yahboomcar_ws/src/yahboomcar_bringup/yahboomcar_bringup

Taking the X3 model as an example, Mcnamu_driver_X3.py is the chassis driver code of the X3 model.

3. Program startup

3.1. Start command

For Raspberry Pi PI5 master control, you need to enter the docker container first, but for Orin motherboard, you do not need to enter.

enter the terminal according to the actual car model,

xxxxxxxxxx
ros2 run yahboomcar_bringup Mcnamu_driver_X3 #X3 model

3.2. View node topics

Open the terminal and enter the container and enter,

xxxxxxxxxx
ros2 topic list

3.3. Read topic data

Open the terminal and enter, taking reading the voltage as an example,

xxxxxxxxxx
ros2 topic echo /voltage

3.4. Publish topic data

Open the terminal and enter the container and enter. Take publishing /cmd_vel data to control the movement of the car as an example.

xxxxxxxxxx
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}}"

4. Program core source code analysis

Take Mcnamu_driver_X3.py as an example,

xxxxxxxxxx
from Rosmaster_Lib import Rosmaster #Import driver library

self.car = Rosmaster() #Instantiate Rosmaster object

#create subscriber Create a subscriber
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 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 and 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):

For detailed code, please refer to the code Mcnamu_driver_X3.py.