TinyMovr

Overview

TinyMovr is a ROS package designed for controlling BLDC motors using the TinyMovr API. It allows for motor control based on velocity commands published to cmd_vel. This repository provides a comprehensive solution for controlling motors and obtaining wheel odometry readings using encoder feedback.

Features

• TinyMovr Integration: Utilizes the TinyMovr API for controlling BLDC motors.
• Velocity Control: Accepts velocity commands published to the cmd_vel topic for motor control.
• Teleoperation Support: Compatible with teleoperation tools like teleop_twist_keyboard or move_base.
• Wheel Odometry: Publishes wheel odometry readings using encoder feedback from the motors.
• UKF Implementation: Includes an Unscented Kalman Filter (UKF) for estimating wheel odometry.

Installation

Prerequisites

• ROS (Robot Operating System) installed on your system. Follow the ROS installation instructions if you haven't already installed it.
• TinyMovr API installed. Refer to the TinyMovr documentation for installation instructions.

Building

Clone the repository into your ROS workspace and build it using catkin_make:

cd ~/catkin_ws/src
git clone https://github.com/yourusername/TinyMovr.git
cd ..
catkin_make

Usage

1. Launch the TinyMovr node:

roslaunch TinyMovr TinyMovr.launch

2. Publish velocity commands to the cmd_vel topic to control the motors.

Configuration

• Motor Configuration: Adjust motor parameters and control settings in the configuration files located at TinyMovr/config/.

Contributing

Contributions are welcome! If you find any issues or want to suggest improvements, feel free to open an issue or submit a pull request.

License

This project is licensed under the MIT License - see the LICENSE file for details.

Acknowledgments

• Special thanks to the developers of the TinyMovr API for providing a robust interface for controlling BLDC motors.
• Credits to the ROS community for creating teleoperation and odometry packages that enhance the functionality of TinyMovr.