How stvy886/krai-2027 works
This ROS 2 package provides encoder acquisition, dead-wheel distance conversion, pose estimation, and a separate Modbus motor test node. The main data path is register reads → encoder counts → odometry distances → pose messages. auto/odom.py also contains PID and mecanum wheel-conversion methods, but the sampled node does not connect those methods to a command input or motor output. The README is empty; the map reflects the supplied source files.
Main entry points: deadwheel.py Dead-wheel encoder · modbus.py Modbus reader · motor.py Motor test node · odom.py Odometry node
Components 11
Encoder sensing
- Modbus reader
auto/modbus.py - Dead-wheel encoder
auto/deadwheel.py
Pose navigation
- Odometry node
auto/odom.py - PID and kinematics
auto/odom.py
Motor test
- Motor test node
auto/motor.py
Other components
- Encoder registers
- Wheel distances
- Robot pose
- Pose subscriber
- Motor register
- Test topic subscriber
Connections 8
- Modbus reader → Encoder registers: reads registers
- Modbus reader → Dead-wheel encoder: publishes counts
- Dead-wheel encoder → Wheel distances: converts counts
- Dead-wheel encoder → Odometry node: publishes distances
- Odometry node → Robot pose: publishes pose
- Robot pose → Pose subscriber: delivers pose
- Motor test node → Motor register: writes register
- Motor test node → Test topic subscriber: publishes test value