Abstract
This article discusses the development of a ROS2-based control system for the MDSM15B60G-2 driver using the ModBus RTU industrial protocol. The created software solution integrates into the ROS2 ecosystem, combining the reading of encoder positions, sending, and writing speed commands. The relevance of the topic is due to the integration of low-level actuators with high-level planning and navigation tools in robotics. The purpose of the study is to create a universal ROS2 package for controlling the MDSM15B60G-2 driver via the RS-485 interface. The main attention is paid to the construction of the Hardware_Interface, which provides data exchange between the controller and physical equipment. The work implements support for the /cmd_vel topic, which provides both manual and automatic control via NAV2. The methodology involves the development of a ROS2-Python node based on the PyModbus library, converting speed commands to RPM and subsequently transmitting them to ModBus RTU. The system was tested using teleop_twist_keyboard The main result of the work is a ROS2 driver that does not depend on the specific design of the robot and can be used in various robotic systems. The work demonstrates how to connect the industrial ModBus RTU protocol with ROS2.