(源码)基于ROS的5dporatfdriver项目.zip

上传者: m0_62153576 | 上传时间: 2025-07-25 09:34:48 | 文件大小: 3.78MB | 文件类型: ZIP
# 基于ROS的5dporatfdriver项目 ## 项目简介 本项目提供了一个ROS驱动程序,用于控制和管理一个四电机驱动的机器人系统。它使用串行通信与机器人硬件进行交互,并通过ROS消息、服务和动作提供机器人的状态信息和控制指令。项目包含的主要功能包括控制电机速度、设置电磁阀状态、发布电机编码器和开关状态信息,以及通过ROS话题和服务接收控制指令。 ## 项目的主要特性和功能 1. 电机控制通过ROS服务设置电机的PWM值,控制电机的速度。 2. 开关控制通过ROS服务设置两个电磁阀的状态(开启或关闭)。 3. 状态发布发布电机编码器和开关状态信息到ROS话题,便于其他节点获取和处理。 4. 串行通信使用串行通信与机器人硬件进行交互,包括打开、关闭串行端口,以及发送和接收数据。 5. ROS支持提供ROS Noetic版本的驱动程序,以适应不同的ROS环境。 ## 安装使用步骤 ### 1. 环境准备

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