README.md

MD_controller

This is a package that makes MDROBOT's motor driver available in ROS2(humble). [ https://www.mdrobot.co.kr ]

motor driver setup(port, buadrate ...)

in launch/md_controller.launch.py

Change parameters suitable for motor driver and motor.

Dependencies

There is no official release of the serial package available for ROS2, so you need to install an unofficial version that is compatible with ROS2.

To install it, follow the steps below.

~$ git clone https://github.com/RoverRobotics-forks/serial-ros2.git
~$ cd serial-ros2
~$ mkdir build
~$ cd build
~$ cmake ..
~$ make
~$ cd ..
~$ colcon build --packages-select serial
~$ cd build
~$ sudo make install

run

#run motor controller
        
~$ ros2 launch md_controller md_controller.launch.py

#control motor

~$ ros2 run md_teleop md_teleop_key_node