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Add custom robot configuration converted from ROS 1
Created ready-to-use configuration files for user's robot: - urdf/my_robot.urdf.xacro: Hardware config with CAN IDs 1 & 2 * rads_to_ticks: 14.323944878 * offset: 0.0 (simplified for teleop, was 3.14159265359) * delay_us: 200 * command_interface: velocity - config/my_robot_config.yaml: Controller config * wheel_separation: 0.4 m * wheel_radius: 0.12 m * publish_rate: 50 Hz * Converted to ROS 2 format (ros__parameters, wheel arrays) - launch/my_robot.launch.py: Launch file using above configs - MY_ROBOT_README.md: Quick start guide for user Configuration is ready for teleop. User can launch with: ros2 launch tinymovr_ros my_robot.launch.py
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‎MY_ROBOT_README.md‎

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# Your Custom Robot Configuration
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These files were automatically converted from your ROS 1 configuration for teleop use.
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## Files Created
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1. **`urdf/my_robot.urdf.xacro`** - Your hardware configuration
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- CAN IDs: wheel_1=1, wheel_2=2
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- Encoder conversion: 14.323944878 ticks/rad
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- Offsets: Set to 0.0 for teleop (you can adjust if needed)
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2. **`config/my_robot_config.yaml`** - Your controller configuration
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- Wheel separation: 0.4 m
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- Wheel radius: 0.12 m
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- Publish rate: 50 Hz
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3. **`launch/my_robot.launch.py`** - Launch file for your robot
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## Quick Start
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### 1. Build the package
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```bash
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cd ~/ros2_ws
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colcon build --packages-select tinymovr_ros
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source install/setup.bash
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```
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### 2. Bring up CAN interface
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```bash
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sudo ip link set can0 type can bitrate 1000000
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sudo ip link set up can0
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```
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### 3. Launch your robot
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```bash
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ros2 launch tinymovr_ros my_robot.launch.py
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```
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### 4. Drive with keyboard
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In another terminal:
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```bash
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ros2 run teleop_twist_keyboard teleop_twist_keyboard \
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--ros-args --remap cmd_vel:=/cmd_vel
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```
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**Controls:**
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- `i` - Move forward
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- `k` - Stop
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- `,` - Move backward
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- `j` - Turn left
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- `l` - Turn right
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- `q/z` - Increase/decrease max speeds
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## Verify Everything Works
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### Check joint states
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```bash
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ros2 topic echo /joint_states
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```
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You should see positions and velocities for wheel_1 and wheel_2.
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### Check controllers
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```bash
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ros2 control list_controllers
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```
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Should show:
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- `joint_state_broadcaster` [active]
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- `diff_drive_controller` [active]
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### Test movement
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```bash
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# Slow forward
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ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.1}}"
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# Stop
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ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "{}"
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```
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## Adjustments
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### If robot moves wrong direction
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Edit `urdf/my_robot.urdf.xacro` and change offset:
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```xml
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<param name="offset">3.14159265359</param> <!-- Add π for 180° flip -->
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```
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### If robot turns too much/little
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Edit `config/my_robot_config.yaml` and adjust:
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```yaml
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wheel_separation: 0.4 # Increase to turn less, decrease to turn more
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```
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### If robot moves too fast/slow
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Edit `config/my_robot_config.yaml` and adjust:
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```yaml
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wheel_radius: 0.12 # Increase for faster, decrease for slower
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```
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## Configuration Source
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**Converted from your ROS 1 config:**
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- Hardware: 2 wheels (IDs 1 & 2) with velocity control
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- Encoder resolution: 14.323944878 ticks/rad
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- Original offset: 3.14159265359 rad (set to 0.0 for teleop simplicity)
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- Wheel dimensions: 0.4m separation, 0.12m radius
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## Need Help?
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- **Documentation**: See [MIGRATION_GUIDE.md](MIGRATION_GUIDE.md) for detailed info
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- **Issues**: https://github.com/tinymovr/Tinymovr-ROS/issues

‎config/my_robot_config.yaml‎

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controller_manager:
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ros__parameters:
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update_rate: 100 # Hz
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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diff_drive_controller:
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type: diff_drive_controller/DiffDriveController
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joint_state_broadcaster:
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ros__parameters: {}
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diff_drive_controller:
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ros__parameters:
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# ROS 2 uses arrays for wheel names (changed from ROS 1)
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left_wheel_names: ["wheel_1"]
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right_wheel_names: ["wheel_2"]
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# Physical parameters (from your old config)
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wheel_separation: 0.4
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wheel_radius: 0.12
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# Fine-tuning multipliers (keep at 1.0 unless you need to adjust)
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wheel_separation_multiplier: 1.0
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left_wheel_radius_multiplier: 1.0
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right_wheel_radius_multiplier: 1.0
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# Publishing and frames
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publish_rate: 50.0
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odom_frame_id: odom
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base_frame_id: base_link
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# Covariance (from your old config)
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pose_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
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twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
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# Control parameters
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open_loop: false
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enable_odom_tf: true
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cmd_vel_timeout: 0.5
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use_stamped_vel: false
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velocity_rolling_window_size: 10
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position_feedback: false

‎launch/my_robot.launch.py‎

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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, RegisterEventHandler
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from launch.event_handlers import OnProcessExit
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from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description():
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# Declare arguments
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declared_arguments = []
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declared_arguments.append(
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DeclareLaunchArgument(
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"use_sim_time",
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default_value="false",
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description="Use simulation (Gazebo) clock if true",
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)
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)
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# Initialize Arguments
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use_sim_time = LaunchConfiguration("use_sim_time")
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# Get URDF via xacro - using MY_ROBOT configuration
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robot_description_content = Command(
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[
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PathJoinSubstitution([FindExecutable(name="xacro")]),
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" ",
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PathJoinSubstitution(
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[FindPackageShare("tinymovr_ros"), "urdf", "my_robot.urdf.xacro"]
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),
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]
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)
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robot_description = {"robot_description": robot_description_content}
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# Controller configuration - using MY_ROBOT configuration
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robot_controllers = PathJoinSubstitution(
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[FindPackageShare("tinymovr_ros"), "config", "my_robot_config.yaml"]
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)
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# Controller manager node
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control_node = Node(
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package="controller_manager",
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executable="ros2_control_node",
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parameters=[robot_description, robot_controllers, {"use_sim_time": use_sim_time}],
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output="both",
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remappings=[
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("/diff_drive_controller/cmd_vel_unstamped", "/cmd_vel"),
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],
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)
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# Robot state publisher node
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robot_state_pub_node = Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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output="both",
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parameters=[robot_description, {"use_sim_time": use_sim_time}],
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)
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# Joint state broadcaster spawner
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joint_state_broadcaster_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
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)
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# Diff drive controller spawner
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diff_drive_spawner = Node(
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package="controller_manager",
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executable="spawner",
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arguments=["diff_drive_controller", "--controller-manager", "/controller_manager"],
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)
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# Delay start of diff_drive_controller after joint_state_broadcaster
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delay_diff_drive_spawner_after_joint_state_broadcaster = RegisterEventHandler(
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event_handler=OnProcessExit(
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target_action=joint_state_broadcaster_spawner,
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on_exit=[diff_drive_spawner],
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)
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)
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nodes = [
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control_node,
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robot_state_pub_node,
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joint_state_broadcaster_spawner,
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delay_diff_drive_spawner_after_joint_state_broadcaster,
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]
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return LaunchDescription(declared_arguments + nodes)

‎urdf/my_robot.urdf.xacro‎

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="my_robot">
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<ros2_control name="tinymovr_system" type="system">
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<hardware>
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<plugin>tinymovr_ros/TinymovrSystem</plugin>
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<param name="can_interface">can0</param>
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</hardware>
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<!-- WHEEL 1 (LEFT) -->
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<joint name="wheel_1">
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<command_interface name="velocity"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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<param name="id">1</param>
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<param name="delay_us">200</param>
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<param name="rads_to_ticks">14.323944878</param>
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<param name="command_interface">velocity</param>
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<param name="offset">0.0</param> <!-- Set to 0.0 for teleop (was 3.14159265359) -->
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</joint>
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<!-- WHEEL 2 (RIGHT) -->
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<joint name="wheel_2">
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<command_interface name="velocity"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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<param name="id">2</param>
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<param name="delay_us">200</param>
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<param name="rads_to_ticks">14.323944878</param>
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<param name="command_interface">velocity</param>
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<param name="offset">0.0</param> <!-- Set to 0.0 for teleop (was 3.14159265359) -->
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</joint>
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</ros2_control>
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</robot>

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