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innok_heros_driver

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_availableto true

This command will start the following nodes:

  1. innok_heros_can_driver: Driver that communicate with the robot platform via CAN bus.
  2. can_bms_node: Recieves data from the BMS via CAN and publishes it on ROS topics. Only launched if BMS is available.
  3. battery_watchdog: This node can shut off the robot before its battery is completely drained.

Copyright (c) 2014-2024 Innok Robotics GmbH