Controlling PCA9685 with ROS2

CONTENTS OF THIS FILE

1. README.md
2. src

Introduction

• Tested with:

1. Raspberry Pi 4B (4 GB) with Sandisk Extreme Pro (64 GB)
2. ROS2 Foxy
3. PCA9685

Requirements

1. ROS2
2. PCA9685

Installation

Pre-requisite

1. Install adafruit pca9685 and servokit library

sudo pip3 install adafruit-pca9685

sudo pip3 install adafruit-circuitpython-servokit

2. Build workspace

cd <ws>
colcon build

Usage

cd <ws>
source ./install/setup.bash
ros2 run ros2_pca9685 listener

Additional Information

1. This code was created to produce PWM for a rotor that generates a maximum thrust of 15.0N

2. The mapping can be reconfigured by editing the <subscriber_member_function.py> file

FAQ / Troubleshooting

TBC

Maintainers

1. Tan Jun Kiat ([email protected])