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carpincho_base package from andino repocarpincho_base carpincho_bringup carpincho_control carpincho_description carpincho_simulation |
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Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | BSDv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/Ekumen-OS/andino.git |
| VCS Type | git |
| VCS Version | deprecated-noetic |
| Last Updated | 2023-04-14 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Franco Cipollone
Authors
carpincho_base
Description
The hardware-software-ros interaction in the carpincho project is developed using ROS Control.
This package:
- Creates the CarpinchoHWInterface from the hardware_interface::RobotHW.
- Run carpincho_hw_interface node which instantiates CarpinchoHWInterface and adds it to the controller manager.
- Provides scripts to be loaded in the microcontroller.
As expected, the CarpinchoHWInterface overrides two methods:
- read():
The joint states are read from the microcontroller which publishes its information over ROSSerial.
The correspondent JoinStateHandles are updated with the joint states information.
- write():
Joint velocity commands are published to the microcontroller which is in charge to command the motors. The joint velocity commands arrives from the diff-drive controller
Launch files
-
carpincho.launch:- Run
carpincho_hw_interface. - Includes
carpincho_control's launch files which executes the DiffDrive Controller.
- Run
See carpincho_control package.
Wiki Tutorials
Source Tutorials
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | catkin | |
| 2 | diff_drive_controller | |
| 2 | hardware_interface | |
| 2 | rosparam_shortcuts | |
| 2 | controller_manager | |
| 2 | roscpp |
System Dependencies
Dependant Packages
| Name | Repo | Deps |
|---|---|---|
| carpincho_bringup | github-Ekumen-OS-andino |
Launch files
- launch/carpincho.launch
- https://github.com/ros-controls/ros_controllers/tree/kinetic-devel/diff_drive_controller/test
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