ROS 2 motor-controller interface
We developed a ros2_control interface that drives our rover through its physical motor controllers. It connects ROS 2 velocity commands to the drives and returns wheel feedback and fault status, so compatible controllers can use a documented hardware interface.
What we tested
Bench tests exercised forward/reverse commands, aggressive turning commands, reverse-start recovery and clearing an induced motor fault. Stopping the command publisher brought the wheels to rest through the controller’s command timeout and the drive’s deceleration ramp.
Two controllers, four wheels
The driver commands the rover’s four wheels through two motor controllers and has been used to drive the robot.
The ros2_control interface has been used to drive Big Stu, as the earlier custom ROS 2 node did. Previously published recordings and measurements retain their original driver configuration.