MinimalModbus ROS2 Node for RMCS-5024 Motor and RMCS2303 Motor Driver

Overview

This repository contains a ROS2 (Robot Operating System) node for controlling the RMCS-5024 motor equipped with a Rhino RMCS2303 Motor Driver. The code interfaces with the motor driver using the MinimalModbus library and is designed to control the motor based on Twist messages, providing both linear and angular velocities.

Hardware Requirements

• Rhino 200RPM 15Kgcm DC Planetary Geared High Precision Encoder Servo Motor (RMCS-5024)
• RMCS2303 Motor Driver

Dependencies

• ROS2 (Robot Operating System)
• MinimalModbus library
• Python 3

Installation

1. Install ROS2 Humble on your system if not already installed.
2. Install the MinimalModbus library by running:

   pip install minimalmodbus

   Or visit the website: https://minimalmodbus.readthedocs.io/en/stable/installation.html

Usage

1. Connect the RMCS-5024 motor to the RMCS2303 Motor Driver.

2. Connect the RMCS2303 Motor Driver to your computer as specified in the user manual.

3. Build your ROS2 workspace:

   cd ros2_ws
   colcon build

4. Run the ROS2 node:

   rosrun your_package_name minimal_modbus_node.py

   Replace your_package_name with the name of your ROS package and minimal_modbus_node with the name of your python script.

5. Publish Twist messages to the /cmd_vel topic to control the motor.

Important Note

This code is designed for use with the Rhino 200RPM 15Kgcm DC Planetary Geared High Precision Encoder Servo Motor (RMCS-5024) and the RMCS2303 Motor Driver. As of the last update, similar code tailored specifically for this setup is not readily available online.

Disclaimer

Please be cautious when working with hardware, especially when dealing with motors and motor drivers. Ensure proper connections and safety precautions to prevent damage to equipment or injury.

Feel free to reach out for any issues or questions related to this code.

Author

Name: Siddharth D Srinivas Email ID: [email protected] LinkedIn: www.linkedin.com/in/siddharth-d-srinivas-855917247