27 lines
1.3 KiB
Markdown
27 lines
1.3 KiB
Markdown
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## Usage
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1. Hoverboard port can be set as a "port" parameter in the node namespace. Check `hoverboard.launch` and `4x4.launch` for examples of 2WD and 4WD configurations. 4WD config is purely for illustration on how to use several ports, but was **not** tested with two hoverboards.
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2. `roslaunch hoverboard_driver hoverboard.launch`
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3. Use any tool (keyboard_teleop, rqt) to send speed commands to `hoverboard_velocity_controller/cmd_vel`.
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In 4x4 configuration, if you want to control both axis with the same `cmd_vel`, you can apply remapping as following:
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```xml
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<launch>
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<group ns="front">
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<param name="port" type="str" value="/dev/ttyTHS1"/>
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<remap from="/front/hoverboard_velocity_controller/cmd_vel" to="/cmd_vel"/>
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<include file="$(find hoverboard_driver)/launch/hoverboard.launch" />
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</group>
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<group ns="rear">
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<param name="port" type="str" value="/dev/ttyTHS2"/>
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<remap from="/rear/hoverboard_velocity_controller/cmd_vel" to="/cmd_vel"/>
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<include file="$(find hoverboard_driver)/launch/hoverboard.launch" />
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</group>
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</launch>
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```
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## DISCLAIMER
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I bear **no responsibility** for any damage, direct or indirect, caused by using this project. Hoverboards are powerful and can be dangerous! Make sure you take all safety precautions!
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