motor_move

ROS2 Action Server für präzise Roboter-Bewegungen mit MIMO-PID Controller.

📦 Packages

• motor_move_msgs: Action Message Definitions (muss zuerst gebaut werden)
• motor_move: Action Server mit MIMO-PID Controller für x, y und yaw

🔌 Installation

# Dependencies
sudo apt-get install libeigen3-dev

# Build
cd ~/ros2/your_workspace
colcon build --packages-select motor_move_msgs motor_move
source install/setup.bash

# Start
ros2 launch motor_move motor_move_launch.py namespace:=robotino1

📥 Action Goals

Topic: /{namespace}/motor_move_action
Type: motor_move_msgs/action/MotorMove

Goal Fields:

• motor_goal: PoseStamped mit Position (x, y) und Quaternion-Orientierung

Beispiele:

Vorwärtsbewegung (1m):

ros2 action send_goal /robotino1/motor_move_action motor_move_msgs/action/MotorMove "{motor_goal: {header: {frame_id: 'robotino1/base_link'}, pose: {position: {x: 1.0, y: 0.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}}" --feedback

Rotation um 90° (Quaternion):

ros2 action send_goal /robotino1/motor_move_action motor_move_msgs/action/MotorMove "{motor_goal: {header: {frame_id: 'robotino1/base_link'}, pose: {position: {x: 0.0, y: 0.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.707, w: 0.707}}}" --feedback

Bewegung + Rotation:

ros2 action send_goal /robotino1/motor_move_action motor_move_msgs/action/MotorMove "{motor_goal: {header: {frame_id: 'robotino1/base_link'}, pose: {position: {x: 1.0, y: 0.5, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.382683, w: 0.92388}}}" --feedback

⚙️ Konfiguration

Datei: motor_move/config/motor_move.yaml

motor_move:
  ros__parameters:
    Kp: [1.8, 0.0, 0.0, 0.0, 1.8, 0.0, 0.0, 0.0, 1.8]
    Ki: [0.38, 0.0, 0.0, 0.0, 0.38, 0.0, 0.0, 0.0, 0.38]
    Kd: [0.2, 0.0, 0.0, 0.0, 0.2, 0.0, 0.0, 0.0, 0.2]
    loop_rate: 15.0
    timeout_seconds: 10.0
    yaw_tolerance_degrees: 5.0
    distance_tolerance: 0.05

Benötigte TF2 Frames: {namespace}/odom und {namespace}/base_link

📤 Outputs

• cmd_vel (/{namespace}/cmd_vel): Twist Messages mit Geschwindigkeitskommandos (~15 Hz)
• Action Feedback: distance_to_target während der Bewegung
• Action Result: success: true/false bei Zielerreichung, Timeout oder Fehler

🔧 Multi-Robot Setup

ros2 launch motor_move motor_move_launch.py namespace:=robotino1
ros2 launch motor_move motor_move_launch.py namespace:=robotino2

🐛 Debugging

ros2 action list
ros2 action info /robotino1/motor_move_action
ros2 run tf2_tools view_frames
ros2 topic echo /robotino1/cmd_vel

📄 License

Apache 2.0 License - Copyright Carologistics