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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
  1. 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])