# diffrobot

**Repository Path**: lucapog/diffrobot

## Basic Information

- **Project Name**: diffrobot
- **Description**: 使用ros2_control框架，ros2_socketcan作为can通信中间层的差速机器人
- **Primary Language**: C++
- **License**: Apache-2.0
- **Default Branch**: master
- **Homepage**: https://gitee.com/lucapog
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-05-25
- **Last Updated**: 2025-05-31

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# diffrobot

   *DiffBot*, or ''Differential Mobile Robot'', is a simple mobile base with differential drive.
   The robot is basically a box moving according to differential drive kinematics.

Find the documentation in [doc/userdoc.rst](doc/userdoc.rst) or on [control.ros.org](https://control.ros.org/master/doc/ros2_control_demos/example_2/doc/userdoc.html).

#### 介绍
使用ros2_control框架，ros2_socketcan作为can通信中间层的差速机器人

## Building and Running

1. 安装依赖项。
   
```shell
sudo rosdepc init  # 初始化
rosdepc update     # 更新本地缓存
rosdepc install --from-paths src --ignore-src -r -y  # 安装依赖项
rosdepc check --from-paths src  # 验证依赖是否已满足
```

2. 编译。
   
```shell
colcon build   # 编译
```


3.   启动 CAN 通信节点，并过滤掉 CAN 接收超时的日志信息。一切控制器节点都依赖于 CAN 通信节点，因此应该在此之后启动。
   
```shell
ros2 launch diff_robot can_bridge.launch.py | grep -v "CAN Receive Timeout"
```
   
 The launch file can_bridge.launch.py starts the CAN bridge node and filters out the CAN receive timeout log messages. ### All controller nodes depend on the CAN bridge node, so it should be launched after this.

4. 启动 DiffBot 控制器节点。通过发布/cmd_vel消息控制 DiffBot 移动，消息类型为geometry_msgs/TwistStamped。
   
```shell
ros2 launch diff_robot diff_drive_controller.launch.py
```

 This command launches the controller node for the DiffBot. It controls the DiffBot by publishing a 
/cmd_vel message of type geometry_msgs/TwistStamped.

## 作者

- [Cyy](https://gitee.com/lucapog)