Front wheel steering control of the Desktop Robotti V.2.

Success criteria

By publishing movement commands trough a ROS2 topic, the heading angle of the DRobotti V.2 can be controlled.

Milestone description

The functionality to be implemented spans the hardware of the front wheel arms, wheels, servo motors and Raspberry Pi 4 onboard the DRobotti V.2:

• The mechanical construction of the DRobotti V.2 must allow for the heading angle of the Robot is controlled by the combined angle of the front wheels, controlled by the servo motors.
• The Raspberry Pi controls the servo motors through the emission of a control signal.
• The Raspberry Pi computes the angle targets for each servo motor from movement commands transmitted on the ROS2 Network

Furthermore, in order to ensure ROS compatibility, and allow for interfacing to teleoperation/autonomous navigation, the topic type must be defined:

• Movement command topic is of type AckermannDriveStamped, http://docs.ros.org/en/jade/api/ackermann_msgs/html/msg/AckermannDriveStamped.html