PRIZM ROS2

Unofficial ROS2 Jazzy compaitibility for Tetrix PRIZM controller

Setup

Clone this repository with the following line:

git clone https://github.com/LTU-Actor/prizm_ros2.git

Build the package with the following lines:

colcon build --packages-select prizm_ros2

source <ros2 workspace>/install/setup.bash

Usage

Launch the program with the following line:

ros2 launch prizm_ros2 launch.py serial_port:=<path to PRIZM controller>

ROS Info

Nodes

• prizm_node: Handles ROS2 to PRIZM serial communication.

Topics

Name	Message Type	Description
cmd_vel	geometry_msgs/Twist	Controls robot movement.
green_led	std_msgs/Bool	Controls the state of the green LED.
red_led	std_msgs/Bool	Controls the state of the red LED.

Parameters

• serial_port: Specifies the serial device path to the PRIZM controller (default: /dev/ttyUSB0).