lsdb_serial_interface

LSDB SERIAL INTERFACE

Input / Output

Input Topics

From lsdb_interface

Name	Type	Description
~/input/command	lsdb_msgs/msg/LsdbCommandStamped	input commands

Output Topics

To lsdb_interface

Name	Type	Description
~/output/status	lsdb_msgs/msg/LsdbStatusStamped	output status

ROS Parameter

Name	Type	Description	Default
serial_port	string	serial port name	/dev/ttyUSB0

Serial Communication

Transmitted data

• Motor Speed [rpm]
• Digital Output Control (connected to turn signal)

Received data

• Motor Speed status [rpm]
• Fault Flag status
• Battery Voltage status
• Digital Input status (connected to emergency stop button)
• Digital Output status (connected to turn signal)