It reads input from topic sonar_velocity to forward it as PWM value (format: Int16) It publishes to topic encoder the encoder ticks (format: Float32)
Please use:
roslaunch hardware_interface_sonar hardware_interface.launch
We can the test_publisher to send a continues steam of velocity data.
rosrun hardware_interface_sonar test_blisher
In case that we want a constant number please edit accordingly.
The board is assumed to be found on /dev/ttyACM0. In different case just edit the config file. Communication runs at 10Hz (100ms intervals).
For further changes please talk to author.
The project is commented using Doxygen. Please make doc/create_doc.sh executable (chmod +x create_doc.sh) and run it. After that, index.html inside the doc folder in the home page of the documentation site.