excavation_rig

Purdue Lunabotics Excavation Rig ROS package

Runs on Raspberry PI connected to:

• H-bridge motor controller controlled via PWM
• ADS1115 current feedback sensors connected to + channel of each motor (in series) and interfaced via I2C

Nodes:

• current_fb_node
  • Publishers:
    • current/voltage: voltage measured by ADC
    • current/raw: raw value from ADC [0,65536]
• motor_control_node
  • Subscribers:
    • ctrl/actuation: speed control [-100,100]
    • ctrl/excavation: speed control [-100,100]
• xbox_control
  • Subscribers:
    • joy: from joy ros package
  • Publishers:
    • ctrl/actuation: speed control [-100,100]
    • ctrl/excavation: speed control [-100,100]

Quick start

1. Ssh to RPI: ssh 192.168.0.104
2. Run recorder/manual control on computer: roslaunch excavation_rig recorder.launch
3. Run motor control on PI: roslaunch excavation_rig rig.launch
4. Control excavation via left joystick, actuation with right joystick
5. Optionally: bring up live current feedback with rosrun plotjuggler plotjuggler and select /current/raw under dropdown for streaming data via ROS