KPI ROS2 Rover ECU Software

Welcome to the GitHub repository for the chassis controller software for the four-wheel rover as part of the KPI Rover robot project.

Main Features:

1. Microcontroller (MCU): STM32 The project utilizes an STM32 microcontroller to provide controller functionality.
2. Motor Control: The controller manages 4 DC motors in the four-wheel rover using L298N drivers.
3. Encoder Integration: For precise motion tracking, the controller reads signals from 4 encoders, measuring the rover’s speed and distance traveled.
4. Battery Monitoring: The controller reads and monitors the battery voltage level, allowing for timely responses to voltage changes or low battery warnings.
5. ROS2 Communication: To integrate the rover into the ROS2 system, the controller implements a communication protocol via a serial interface.

KPI_Rover/Database

Updating entries

In order to change database entries two steps are required:

• changing database metadata ulDatabase_params in KPI_Rover/KPIRover.c;
• updating the corresponding field names in the ulDatabase_ParamId enum in KPI_Rover/Database/ulDatabase.h.

To simplify this procedure the KPI_Rover/Database/scripts/updateMetadataEnum.py script is provided. It is required to fill out the comments after every metadata entry with the corresponding enum field name for the script to succeed. Setting specific CWD is not required, the script will find the files regardless.

The script has to be run after performing the first step mentioned above. It will read ulDatabase_params from KPI_Rover/KPIRover.c and validate it. If the check succeeds, the file KPI_Rover/Database/ulDatabase.h will be updated and the script will return zero. In case a validity check fails, the script will print the specific line that failed the check, underline the problematic value in the line and specify the rule the value has broken. The KPI_Rover/Database/ulDatabase.h file will remain unchanged and the exit code will be set to a non-zero value.