API

The motors are controlled with PWM as as service. By default the topic published by the ROS diff_drive_controller (/mobile_base_controller/cmd_vel) will call that service. One has to disable the ROS diff_drive_controller () to manually set the PWM signal by using the service (eg from commandline). Currently, the default parameters are set to use the Mirte Arduino-nano PCB.

Subscribed Topics

/mobile_base_controller/cmd_vel (geometry_msgs/Twist)

Published Topics

Topics published to depend on the parameters given.

/mirte/_distance (sensor_msgs/Range) /mirte/_encoder (mirte_msgs/Encoder) /mirte/_intensity (mirte_msgs/Intensity)

Services

/mirte_navigation/move /mirte_navigation/turn /mirte_pymata/set_motor_pwm /mirte/get_pin_value /mirte/set_pin_mode /mirte/set_pin_value /mirte_service_api/get<topic_name>

Parameters

Default parameters are in config/mirte_base_config.yaml

Device settings

device/mirte/type (string, default: "mirte") The type of board connected. Currently only suppots Mirte. Future support will also include Lego Mindstorms and M-bot. device/mirte/dev (string, default: "/dev/ttyUSB0") The linux device name of the board.

Distance sensor

distance/_distance/dev (string, default: "mirte") distance/_distance/frequency (int, default: 10) The frequency to publish new sensor data distance/_distance/pin (array) The (arduino/stm32) pins it is connected to [trigger-pin, echo-pin] (eg [8. 13])

Encoder sensor

Note: the encoder sensor does not have a frequency since it uses the interrupt pins encoder/_encoder/device (string, default: "mirte") encoder/_encoder/pin (int) encoder/_encoder/ticks_per_wheel (int, default: 20)

Intensity sensor

intensity/_intensity/device (string, default: "mirte") intensity/_intensity/frequency (int, default: 10) intensity/_intensity/pin (int)

Motor settings

motor/_motor/device (string, default: "mirte") motor/_motor/pin (array) The (arduino/stm32) pins the motor (h-bridge) is connected to. When using 2 pins per motor it will assume MX1919 (both PWM signals). When using 3 pins it will assume L298N (1 PWM, 2 non-PWM)

Test code style

To check the C++ and Python code style run:

pip install black
black --check **/**.py
# Fix by using
black **/**.py

sudo apt install clang-format # preferably version 14, 10 should be fine
clang-format --dry-run --Werror ./**/**.cpp -style=llvm
# Fix by using
clang-format --Werror ./**/**.cpp -style=llvm -i

Required packages Telemetrix

Requires https://github.com/mirte-robot/tmx-pico-aio.git to be installed ( pip install git+https://github.com/mirte-robot/tmx-pico-aio.git ) for the Pico and https://github.com/mirte-robot/telemetrix-aio.git for the STM32 and Arduino Nano (pip install git+https://github.com/mirte-robot/telemetrix-aio.git).