This project is a python-based ROS 1.0 driver for the Roboclaw series of motor controllers. The driver is geared around the use case of a differential drive robot base and as such provides interfaces to control the robot using:

• port := the serial port the roboclaw is connected to
• baud_rate := the serial baud rate the device is configured for
• base_frame_id := the base transform frame id
• base_width := the distance between the two drive wheels
• ticks_per_metre := the number of encoder pulses per metre of travel
• max_acceleration := the maximium safe acceleration for the robot
• robot_direction := this reverses the direction of the robot within both the odometry calculation and velocity commands
• left_motor_direction := reverses only the direction of the left motor in the odometry and velocity commands
• right_motor_direction := reverses only the direction of the right motor in the odometry and velocity commands
• KP The proportional gain for the motor velocity PID controller
• KI The integral gain for the motor velocity PID controller
• KD The derivative gain for the motor velocity PID controller
• QPPS The maximum encoder pulses per second and full speed, this is used by the velocity PID controller

odom            nav_msgs/Odometry
joint_states    sensor_msgs/JointStates
roboclaw_state  roboclaw_pythonRoboclawState

cmd_vel         geometry_msgs/Twist

Uses enum in pyhthon install using:

pip install enum34