SBL2360 Hall Sensor and ROS Roboteq Driver package

Hello, we are working on a 4 wheeld robot project and plan to use 2 BLDC wheel hub motor and 2 free wheels. We stumbled across Roboteq BLDC controllers which seem very nice and friendly to use.
The SBL2360 meet our specs. and we want to "talk" to it via USB (from Odroid) and integrate ROS to the system.

We found this ROS package ( github.com/g/roboteq ). However, the SBL2360 is not in the list of compatible controllers listed. Is it possible to get the package to work with SBL2360 by modifying the code ?

Also,we read in the manual that the controller requires the Hall sensors inside the motor to be 120 degrees apart, is it mandatory to control the motors correctly in speed and position modes ?

Thanks in advance !

That ROS package can be used with all of our motor controllers. It uses our serial interface to command each of our controllers. Our serial interface is the same across all of our controller models. It should be fairly easy to get that package to work with our SBL2360.

Hall sensors are required in our brushless controllers in order to get them to commutate. All of our Brushless controllers need some way to sense the rotor position of the motors in order to get them to move at all. For mobile robots, we recommend hall sensors. Hub motors should come with hall sensors - let me know if you have found one that doesn't.

Hi and thank you for the fast answer !

We've been through the (long and great) document about Roboteq motor controllers, it was very informative but we still have some questions (SBL2360) :

- Is it USB 2.0 or 3.0 ?

- Are absolute encoders supported ? If so, would you recommend using it for an autonomous robot ?

- Is there any built-in odometry computation wich would output x, y and z (angle in radians) ?

Thank you for your reactivity !