esp32_diffdrive_robot

ESP32-based diffdrive robot.

Microros node implemented on ESP32 subscribes wheel_command topic and publishes wheel_state. There are command and state velocities in rad/s.

The microros_hardware_interfaces subscribes to wheel_state and publishes wheel_command. It also exports velocity interfaces for joints described in <ros2_control> tag in robot description.

Flash firmware

Open VS Code in firmware folder wait for PlatformIO initialization and Upload program.

Build ROS 2 workspace

To build workspace install ROS humble on Ubuntu 22.04, then:

mkdir esp32bot_ws
cd esp32bot_ws

git clone https://github.com/wust-dcr/esp32_diffdrive_robot.git src

vcs import src < src/dependencies.repos
rosdep install --from-paths src --ignore-src -r -y

colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

Running

This example uses ROS_DOMAIN_ID=0 remember:

source install/setup.bash

export ROS_DOMAIN_ID=0
ros2 launch esp32_diffdrive_robot_bringup microros.launch.py  serial_port:=/dev/ttyUSB0 serial_baudrate:=115200

The diff_drive_controller should activate correctly. Now you can drive the robot using teleop_twist_keyboard:

ros2 run teleop_twist_keyboard teleop_twist_keyboard