ROS driver for the Innok Heros robot plattform.
Start with
roslaunch innok_heros_driver innok_heros_driver.launch bms_available:=true
If the robot is equipped with the XLAkku that includes the CAN battery management system (BMS), set the argument bms_available
to true
This command will start the following nodes:
innok_heros_can_driver
: Driver that communicate with the robot platform via CAN bus.can_bms_node
: Recieves data from the BMS via CAN and publishes it on ROS topics. Only launched if BMS is available.battery_watchdog
: This node can shut off the robot before its battery is completely drained.
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