kvasir_hw_interface

The kvasir_hw_interface package provides a ros2_control hardware interface for our Kvasir robot. It communicates with a Nucleo-H503RB over a serial connection.

Important

This repository contains only the hardware interface for Kvasir. The robot's description and other related files are maintained in the kvasir_description repository under the Mobius-Robotics organization.

Wheel convention

Wheels are expected to be numbered in the following order:

1. Front left;
2. Front right;
3. Rear left;
4. Rear right.

While this is not strictly a requirement in this package (since the only interface provided directly controls the wheel speeds), it is useful to have a convention (which is already used, e.g., in kvasir_joystick_controller).

Acknowledgements

This package is based on the diffdrive_arduino package (see the repository from which this is forked from) and the diffbot example from the ros2_control demos. Big thanks to the original authors for their excellent work, which provided a solid starting point for our interface.