Sabertooth high power motor controller

[Russ Hall]

Hello! Has anyone written a ROS2 control routine for this motor controller? I'm using the Github "Andino" software for a small robot and it uses ROS2 Control quite well, with Arduino and L298N. To modify this software for my big robot with wheelchair motors and the Sabertooth controller is now my challenge. Or maybe it would be easier to use another motor controller that already has ROS2 routines written for it?

[Sergei Grichine]

Russ,

It looks like there is plenty of "sabertooth AND ros" code on GitHub:

https://github.com/search?q=Sabertooth+AND+ros&type=repositories

But if you find a reliable codebase in Python - putting it in a ROS2 node is trivial. Making it reliable enough to safely drive a heavy robot... well, that may take a while.

As for another controller, take a look here: https://github.com/slgrobotics/robots_bringup/tree/main/Docs/MakeYourOwn#base-control---the-arduino-way

I use IBT-2 H-bridges (https://www.amazon.com/HiLetgo-BTS7960-Driver-Arduino-Current/dp/B00WSN98DC) - not sure about your requirements for voltage and current.

Having total control of the controller's firmware is a great bonus, that's why the "Arduino way" is my first choice.

Best Regards,

-- Sergei

On Tue, Jan 13, 2026 at 5:20 PM Russ Hall <rll...@gmail.com> wrote:

Hello! Has anyone written a ROS2 control routine for this motor controller? I'm using the Github "Andino" software for a small robot and it uses ROS2 Control quite well, with Arduino and L298N. To modify this software for my big robot with wheelchair motors and the Sabertooth controller is now my challenge. Or maybe it would be easier to use another motor controller that already has ROS2 routines written for it?

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[Russ Hall]

Thanks for the reply! Yes, I have used the BTS7690 controller, on a small Linorobot clone that worked well inside. When I went to install it in the big, outdoor robot, the controllers wouldn't behave properly at all. I tried different wiring, too. After that, I got the smaller 2x12 Sabertooth to use indoors for prototyping, and saved the 2x25 to use outdoors. I have written Python routines that use the simplified serial motor commands for Sabertooth and find that it works very well. However, to drive autonomously, integration with Ros2-control is required, and I haven't gotten that all figured out yet. For example, under Andino_firmware/src, there are 27 different files!

[Sergei Grichine]

Russ,

well, you mentioned  ros2_control - some of us are big fans of it here ;-)

If you followed my links, the https://github.com/slgrobotics/diffdrive_arduino/blob/main/src/diffdrive_arduino.cpp is exactly where the ros2_control state and command interfaces are defined. 

In my case, I talk to Arduino - you can talk to Sabertooth or RoboClaw for that matter.

As for using the diff_drive - https://github.com/slgrobotics/articubot_one/blob/main/robots/seggy/description/ros2_control.xacro gives you an example.

Controllers are configured, for example, here: https://github.com/slgrobotics/articubot_one/blob/main/robots/seggy/config/controllers.yaml

BTW, I am using those IBT_2 bridges eith Arduino as PID controller, on rather large outdoor robots, and don't have any problems. Links in my previous email.

I hope that helps.

Best Regards,

-- Sergei

To view this discussion visit https://groups.google.com/d/msgid/hbrobotics/e4ec1270-3b67-49dd-9c82-e577350082b5n%40googlegroups.com.

[Russ Hall]

That looks interesting, thanks!

I did order the Pololu Dual G2 High-Power Motor Driver 24v18 Shield for Arduino. It should work with little change to the Andino code.

[Sergei Grichine]

The https://www.pololu.com/product/2518 board looks interesting, although I prefer to stay away from dual custom H-bridges. When the magic gray smoke visits one side, the whole board becomes unusable—and by that time the model might be out of production.

That said, Russ, what you’re doing is very interesting to many of us here. Anything involving big motors definitely intrigues me as well - please keep us updated.

It would be great to learn more technical details, and to see photos or plans, if you don’t mind sharing.

Best Regards,

-- Sergei

To view this discussion visit https://groups.google.com/d/msgid/hbrobotics/d78c0f39-7b82-4e29-a6ff-217032c91d65n%40googlegroups.com.

[Russ Hall]

Here's one called Herbie:

https://www.youtube.com/watch?v=yrYpXgqC7wQ

https://github.com/Russ76/herbie

[Sergei Grichine]

Wow, that's very cool! We need more outdoor robots here, large motors, scary tools. You are in a good company. I'm sure Michael Wimble and his squirrels are taking a note (as well as my 3000 psi suggestion, I hope)...

Spraying the weeds with AI is a great idea, although I prefer to cut the grass (i.e. weeds that I call grass here)  ;-)

 - https://www.youtube.com/@my2be4me/videos

 - https://github.com/slgrobotics/robots_bringup/tree/main/Docs/Lawnmower

Best Regards,

-- Sergei

To view this discussion visit https://groups.google.com/d/msgid/hbrobotics/71eace84-205a-46a8-bffe-db7f34da9deen%40googlegroups.com.

[Russ Hall]

That's a lot of code! I'm wondering about the different .ino files, like under the models of Dragger. I don't see them working together, or don't see any header files called, linking them together?

[Sergei Grichine]

Russ,

when it comes to Arduino-side code, each robot has its own folder. I try to merge them as practical, but that's not my highest priority:

• https://github.com/slgrobotics/Misc/tree/master/Arduino/Sketchbook/DraggerROS  (Arduino 2560 Mega, 350W 24V scooter geared motors, 2x IBT-2 H-Bridge boards)
• https://github.com/slgrobotics/Misc/tree/master/Arduino/Sketchbook/PluckyWheelsROS (Arduino 2560 Mega, medium size geared motors, custom old dual H-Bridge board)
• https://github.com/slgrobotics/Misc/tree/master/Arduino/Sketchbook/WheelsROS_Seggy  (Teensy 4.x, BLDC motors - Segway Ninebot miniPRO)

When uploading to MCU from Arduino IDE you don't need any specific project files etc. - all .ino files in a folder are compiled and loaded together.

Best Regards,

-- Sergei

To view this discussion visit https://groups.google.com/d/msgid/hbrobotics/64d948af-6cf5-4370-a045-be77b6a151f3n%40googlegroups.com.

[Russ Hall]

Thanks! I'll try this with DraggerROS.

And I assume the micro-controller is ready to communicate with https://github.com/slgrobotics/diffdrive_arduino

Russ

[Sergei Grichine]

"...And I assume the micro-controller is ready to communicate with https://github.com/slgrobotics/diffdrive_arduino "

Yes, all my Arduino "*Comm.ino" implement the same serial interface, and are compatible with that ROS2 driver. - see this one for example.

Ideally, the communication protocol should be improved (packets, checksums, sanity checks, safety guards, error handling) - but for now simple string commands work, and can be issued directly from Arduino IDE terminal for testing.

I am open for suggestions (issues, pull requests etc.)

Best Regards,

-- Sergei

To view this discussion visit https://groups.google.com/d/msgid/hbrobotics/2db6ed00-0d65-49ea-8f5b-b7ddefeb3072n%40googlegroups.com.

[Russ Hall]

Excellent!