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hero_chassis_controller

Overview

  • This is a assignment which is writing a hero_chassis_controller,and use it to control a virtual chassis in gazebo.

  • Now it can control four mecanum wheels with PID controllers. You can publish commands on topic " /controller/hero_chassis_controller/cmd_vel" with geometry/Twist message.

  • Or you can use keyboard to controll it when you run the chassis_teleop_keyboard node in this package(If you use Launch file,it will run automatically).In this case,please try to press"q,w,e,a,s,d,f,g,z,x,c" on your keyboard.

  • You can view the odometer on rviz.

Keywords: Robomaster,ROS,ros_control,chassis controller

License

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

Author:YeZhenyu,CaiLiya
Affiliation:多喝岩浆
Maitainer:YeZhenyu,Cailiya

The hero_chassis_controller package is testing under ROS Noetic on Ubuntu 20.04.

Installation

Building from Source

Dependencies

  • Robot Operating System (ROS) (middleware for robotics),
  • rm_description
  • controller_interface
  • forward_command_controller
  • hardware_interface
  • pluginlib
  • geometry_msgs
  • tf
  • nav_msgs
  • control_toolbox
  • realtime_tools
  • control_msgs

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:ye-luo-xi-tui/hero_chassis_controller.git
cd ../
rosdep install --from-paths . --ignore-src
catkin build

Usage

Run the simulation and controller with:

roslaunch hero_chassis_controller run_simulation_and_controller.launch

Config files

Config file config

  • controllers.yaml Params of hero_chassis_controller and joint_state_controller.

Launch files

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

Nodes

chassis_teleop_keyboard

Published Topics

  • /controller/hero_chassis_controller/cmd_vel(geometry_msgs/Twist)

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker .