I want to make _pwm a rostopic

Hi!

I am a student studying ros using rosbot 2.0.

I want to make _pwm rostopic to check the control input of the motor.

Looking at the firmware code, I checked that the function getDutyCycle in the motor driver (DRV8848.h and DRV8848.cpp) can read the PWM as _pwm.read().

Should I add getDutyCycle to main.cpp in firmware?

Or should I write the code by adding a new node to the rosbot_ekf package?

I would really appreciate it if you could give me a starting point and some details.

Thanks for reading.

Hi Chokings,
You can use the RosbotDrive::getSpeed function that is defined in the RosbotDrive.cpp file. It is based on getDutyCycle() function.

I have prepared for you an outline of the solution that is in my fork (link to commit). When you subscribe /pwm topic, message data (Float32) tells you the ratio of low state time to cycle period.

I hope this solution suits you.

Best regards,
Paweł