# xqserial_server

**Repository Path**: xq_robot/xqserial_server

## Basic Information

- **Project Name**: xqserial_server
- **Description**: ROS底盘驱动包
- **Primary Language**: C++
- **License**: MIT
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 1
- **Created**: 2022-05-07
- **Last Updated**: 2022-05-07

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# xqserial_server
xiaoqiang motor driver and low level ROS api package
    
## input topic
      name                                  type        
    /cmd_vel                         geometry_msgs/Twist
    /barDetectFlag                   std_msgs/Bool
    
## output topic
       name                                 type                 frate
    /xqserial_server/Odom            nav_msgs/Odometry            50hz
    /xqserial_server/Pose2D          geometry_msgs/Pose2D         50hz
    /xqserial_server/Power           std_msgs/Float64             50hz
    /xqserial_server/StatusFlag      std_msgs/Int32               50hz
    /xqserial_server/Twist           geometry_msgs/Twist          50hz
    /tf                              odom-->base_footprint        50hz
    /tf_static                       base_footprint-->base_link   100hz
    
## input param   
       name                            default
    port                             /dev/ttyUSB0
    baud                               115200
    wheel_separation                    0.37
    wheel_radius                        0.06
    debug_flag                          false
    max_speed                           2.0
    cmd_topic                           cmd_vel

## Usage:
### download to xiaoqiang ros workspace
```
cd ~/Documents/ros/src
git clone https://github.com/BlueWhaleRobot/xqserial_server.git 
cd ..
catkin_make
```
### Quickstart
```
roslaunch xqserial_server xqserial.launch
```
## Made with :heart: by BlueWhale Tech corp.
    
    
小强电机驱动和相关的ROS底层驱动程序。  
## 使用方法：
#### 安装到小强ROS工作目录
```
cd ~/Documents/ros/src
git clone https://github.com/BlueWhaleRobot/xqserial_server.git 
cd ..
catkin_make
```
### 直接启动
```
roslaunch xqserial_server xqserial.launch
```
    
## 由蓝鲸科技精 :heart: 制作。