epos

epos用ROS2パッケージ

環境構築

要件

• Ubuntu22.04
• ROS2 Humble

依存関係

source /opt/ros/humble/setup.bash
rosdep update
cd ~/ws/src

git clone https://github.com/Nexis-R/epos
. epos/install-scripts/install-epos-command-library
cd ~/ws/src/
rosdep install -r -y -i --from-paths .

ビルド

cd ~/ws
colcon build --symlink-install
source install/setup.bash

使用方法

ターミナル1

ros2 launch epos epos4_usb_can_gateway.launch.xml

ターミナル2(速度制御)

ros2 topic pub /epos/motor1/move_with_velocity std_msgs/msg/Float32 "data: 0.0"
or
ros2 topic pub /epos/motor1/move_with_velocity std_msgs/msg/Float32 "data: 1000.0"

参考

Epos Command Library