simple_chassis_controller

Overview

This is controller example/template for the assignment (see Chinese requirement) which assess DynamicX reserve member.

Keywords: RoboMaster, ROS, ros_control

License

The source code is released under a BSD 3-Clause license.

Author: QiayuanLiao
Affiliation: Dynamicx
Maintainer: QiayuanLiao, liaoqiayuan@gmail.com

The simple_chassis_controller package has been tested under ROS Noetic on respectively 18.04 and 20.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Installation

Building from Source

Dependencies

• Robot Operating System (ROS) (middleware for robotics),
• rm_description
• controller_interface
• forward_command_controller
• hardware_interface
• pluginlib

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone git@github.com:gdut-dynamic-x/simple_chassis_controller.git
# git clone https://github.com/gdut-dynamic-x/simple_chassis_controller.git
cd ../
rosdep install --from-paths . --ignore-src
catkin build

Usage

Run the simulation and controller with:

roslaunch simple_chassis_controller run_simulation_and_controller.launch

Config files

Config file config

• controllers.yaml Params of simple_chassis_controller and joint_state_controller.

Launch files

• run_simulation_and_controller.launch: Hero chassis only simulation and simple chassis controller

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker .