ROS2 azd-kd Driver

A node package based on pymodbus (2.5.3) to communicate with Oriental Motor AZD-KD driver.

Installation

navigate into your ROS workspace's src directory and clone azd-kd:

$ cd ~/ros_workspace/src
$ git clone https://github.com/ietamaher/azd-kd

Then build it - use colcon build:

$ cd ~/ros_workspace/

# ROS2 Foxy/Humble
$ colcon build
$ source install/local_setup.bash 

update config_modbus.yaml based on communication parameters (port: '/dev/ttyUSB0', baudrate: 115200, etc ...) The nodes should now be built and ready to use. Remember to source the overlay as shown above so that ROS can find the nodes.

• In case you have multiple USB devices you can use :

$ ls /dev/serial/by-path/plateform-ff0005xxxxx.pcie.pci 
$ ls /dev/serial/by-id/USB-Silicon_labxxxxxxxxx

Testing

# ROS2 Foxy/Humble
$ sudo chmod 666 /dev/ttyUSB0
$ ros2 launch azd_kd azd_kd_modbus.launch.py

to displays topics /azd_kd_query /azd_kd_response /azd_kd_state, run :

$ ros2 topic list 

To start communicating with the azd-kd driver, run one of the samples. Open new tab and run the following :

$ source install/local_setup.bash 
$ python src/azd-kd/samples/sample1.py

you can observe topics /azd_kd_query /azd_kd_response /azd_kd_state by runing ;

$ ros2 topic echo /azd_kd_response