rm_hw package from rm_control reporm_common rm_control rm_dbus rm_gazebo rm_hw rm_msgs rm_referee |
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Package Summary
Tags | No category tags. |
Version | 0.1.20 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/rm-controls/rm_control.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2024-05-10 |
Dev Status | DEVELOPED |
CI status |
|
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Qiayuan Liao
Authors
- Qiayuan Liao
Package Name
Overview
This is a ROS control warped interface for RoboMaster motor and some robot hardware Keywords: ROS, RoboMaster
License
The source code is released under a BSD 3-Clause license.
Author: QiayuanLiao
Affiliation: Dynamicx
Maintainer: QiayuanLiao, liaoqiayuan@gmail.com
The rm_hw package has been tested under ROS Melodic and 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.
[comment]: <> (### Publications)
[comment]: <> (If you use this work in an academic context, please cite the following publication(s):)
[comment]: <> (* P. Fankhauser, M. Bloesch, C. Gehring, M. Hutter, and R. Siegwart: PAPER TITLE. IEEE/RSJ International Conference)
[comment]: <> ( on Intelligent Robots and Systems (IROS), 2015. ([PDF](http://dx.doi.org/10.3929/ethz-a-010173654)))
[comment]: <> ( @inproceedings{Fankhauser2015,)
[comment]: <> ( author = {Fankhauser, P\'{e}ter and Hutter, Marco},)
[comment]: <> ( booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},)
[comment]: <> ( title = {{PAPER TITLE}},)
[comment]: <> ( publisher = {IEEE},)
[comment]: <> ( year = {2015})
[comment]: <> ( })
Installation
Installation from Packages
To install all packages from the this repository as Debian packages use
sudo apt-get install ros-noetic-...
Or better, use rosdep
:
sudo rosdep install --from-paths src
Building from Source
Dependencies
- Robot Operating System (ROS) (middleware for robotics)
- rm_msg
- rm_common
- hardware_interface
- urdf
- transmission_interface
- joint_limits_interface
- controller_manager
- socketcan_interface
- angles
- realtime_tools
- tf2_ros
- kdl_parser
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 https://github.com/ethz-asl/ros_best_practices.git
cd ../
rosdep install --from-paths . --ignore-src
catkin_make
[comment]: <> (### Running in Docker)
[comment]: <> (Docker is a great way to run an application with all dependencies and libraries bundles together. Make sure)
[comment]: <> (to [install Docker](https://docs.docker.com/get-docker/) first.)
[comment]: <> (First, spin up a simple container:)
[comment]: <> ( docker run -ti --rm --name ros-container ros:noetic bash)
[comment]: <> (This downloads the ros:noetic
image from the Docker Hub, indicates that it requires an interactive terminal (-t, -i
))
[comment]: <> (, gives it a name (--name
), removes it after you exit the container (--rm
) and runs a command (bash
).)
[comment]: <> (Now, create a catkin workspace, clone the package, build it, done!)
[comment]: <> ( apt-get update && apt-get install -y git)
[comment]: <> ( mkdir -p /ws/src && cd /ws/src)
[comment]: <> ( git clone https://github.com/leggedrobotics/ros_best_practices.git)
[comment]: <> ( cd ..)
[comment]: <> ( rosdep install --from-path src)
[comment]: <> ( catkin_make)
[comment]: <> ( source devel/setup.bash)
[comment]: <> ( roslaunch ros_package_template ros_package_template.launch)
Unit Tests
Run the unit tests with
catkin_make run_tests_ros_package_template
Static code analysis
Run the static code analysis with
catkin_make roslint_ros_package_template
Usage
Describe the quickest way to run this software, for example:
Run the main node with
roslaunch ros_package_template ros_package_template.launch
Config files
Config file folder/set 1
- config_file_1.yaml Shortly explain the content of this config file
Config file folder/set 2
- ...
Launch files
- launch_file_1.launch: shortly explain what is launched (e.g standard simulation, simulation with gdb,...)
Argument set 1
- **`argument_1`** Short description (e.g. as commented in launch file). Default: `default_value`.
Argument set 2
- **`...`**
- ...
Nodes
rm_hw
Reads temperature measurements and computed the average.
Subscribed Topics
-
/temperature
(sensor_msgs/Temperature)
The temperature measurements from which the average is computed.
Published Topics
...
Services
-
get_average
(std_srvs/Trigger)
Returns information about the current average. For example, you can trigger the computation from the console with
rosservice call /ros_package_template/get_average
Parameters
-
subscriber_topic
(string, default: "/temperature")
The name of the input topic.
-
cache_size
(int, default: 200, min: 0, max: 1000)
The size of the cache.
dbus_node
...
Plugins
robot_state_controller
Subscribed Topics
...
Published Topics
...
RevoluteTransmission
Bugs & Feature Requests
Please report bugs and request features using the Issue Tracker .
Changelog for package rm_hw
0.1.20 (2023-06-20)
- Merge branch \'master\' into dev/sentry_map # Conflicts: # rm_referee/include/rm_referee/referee_base.h # rm_referee/src/referee_base.cpp
- Merge branch \'master\' into pitch_ui
- Merge pull request #160 from ye-luo-xi-tui/master Filter out actuator data with short time difference
- Filter out actuator data with short time difference.
- Merge branch \'master\' into suggest_fire
- Merge branch \'rm-controls:master\' into master
- Merge branch \'dev/ui_refact\' into dev/balance_cmd_send
- Merge branch \'master\' into dev/ui_refact # Conflicts: # rm_referee/include/rm_referee/common/protocol.h # rm_referee/src/ui/graph.cpp
- Merge pull request #146 from ye-luo-xi-tui/master 0.1.19
- Merge branch \'rm-controls:master\' into master
- Merge pull request #1 from rm-controls/master 1
- Contributors: 1moule, ye-luo-xi-tui, yezi, yuchen,
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | catkin | |
1 | roscpp | |
1 | rm_common | |
1 | rm_msgs | |
2 | hardware_interface | |
2 | controller_interface | |
2 | transmission_interface | |
2 | joint_limits_interface | |
2 | controller_manager | |
3 | urdf | |
1 | realtime_tools |
System Dependencies
Dependant Packages
Name | Repo | Deps |
---|---|---|
rm_control | github-rm-controls-rm_control |
Launch files
- test/test_motor.launch
-
- robot_type [default: $(env ROBOT_TYPE)] — Robot type [standard, hero, engineer, sentry]
- debug [default: false]
- load_chassis [default: true]
- load_gimbal [default: true]
- load_shooter [default: true]
- load_arm [default: true]
- test/test_imu.launch
- launch/rm_hw.launch
-
- robot_type [default: $(env ROBOT_TYPE)] — Robot type [standard, hero, engineer, sentry]
- debug [default: false]
- load_chassis [default: true]
- load_gimbal [default: true]
- load_shooter [default: true]
- load_arm [default: true]