GHRA: A ROS2-Based Rail Trolley Control Stack with WIZnet Ethernet and micro-ROS
GHRA outlines a ROS2 control stack for a rail-mounted AC trolley, combining ESP32 edge nodes, WIZnet W5500 Ethernet, a VFD, and a secured web dashboard.
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Project description
Overview GHRA is structured as a distributed motion-control system for a motorized trolley running on an I-beam. Its core idea is to split the system into a host-side ROS2 control layer, an Ethernet-connected motor controller, a Wi-Fi remote node, and a browser-based dashboard rather than placing all logic inside a single PLC-like controller. The design is notable because it mixes industrial-style actuation paths with software-defined orchestration. A VFD receives the actual speed reference through a 0-10V analog signal, while direction is handled through relay-driven terminal inputs…
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