Package Summary

Tags No category tags.
Version 0.7.16
License Apache 2.0
Build type CATKIN

Repository Summary

Checkout URI
VCS Type git
VCS Version kinetic_dev
Last Updated 2024-02-20
CI status Continuous Integration : 0 / 0
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

This package contains classes that are able to control the platform of the Care-O-Bot. This means to establish a CAN communication to drive and steering motors of the platform and later send motion commands and receive motor information.

Additional Links


  • Matthias Gruhler


  • Christian Connette
No README found. See repository README.

Changelog for package cob_base_drive_chain

0.7.16 (2024-02-20)

0.7.15 (2023-11-06)

0.7.14 (2022-11-17)

0.7.13 (2022-07-29)

0.7.12 (2022-03-15)

0.7.11 (2022-01-12)

0.7.10 (2021-12-23)

0.7.9 (2021-11-26)

0.7.8 (2021-10-19)

0.7.7 (2021-08-02)

0.7.6 (2021-05-10)

0.7.5 (2021-04-06)

  • Merge pull request #418 from fmessmer/fix_catkin_lint fix catkin_lint
  • fix catkin_lint
  • Contributors: Felix Messmer, fmessmer

0.7.4 (2020-10-14)

  • Merge pull request #417 from fmessmer/test_noetic test noetic
  • Bump CMake version to avoid CMP0048 warning
  • Contributors: Felix Messmer, fmessmer

0.7.3 (2020-03-18)

0.7.2 (2020-03-18)

  • Merge pull request #408 from fmessmer/ci_updates [travis] ci updates
  • catkin_lint fixes
  • Contributors: Felix Messmer, fmessmer

0.7.1 (2019-11-07)

0.7.0 (2019-08-06)

  • Merge pull request #396 from HannesBachter/indigo_dev 0.6.15
  • Contributors: Felix Messmer

0.6.15 (2019-07-17)

0.6.14 (2019-06-07)

0.6.13 (2019-03-14)

0.6.12 (2018-07-21)

0.6.11 (2018-01-07)

  • Merge remote-tracking branch \'origin/indigo_release_candidate\' into indigo_dev
  • Merge pull request #341 from ipa-fxm/APACHE_license use license apache 2.0
  • use license apache 2.0
  • Contributors: Felix Messmer, ipa-fxm, ipa-uhr-mk

0.6.10 (2017-07-24)

0.6.9 (2017-07-18)

  • Fix/diagnostic rate (#329)
    • Turned down global diagnostic rate to 1Hz
    • Fixed comments
    • Intermediate
    • Fixed
  • manually fix changelog
  • Contributors: ipa-fxm, mig-em

0.6.8 (2016-10-10)

  • introduced param to set homing velocity
  • Contributors: Benjamin Maidel

0.6.7 (2016-04-02)

0.6.6 (2016-04-01)

  • changed drive_chains diag name from //base_controller to /base_controller/base_drive_chain_node
  • Contributors: bnm

0.6.5 (2015-08-31)

0.6.4 (2015-08-25)

  • install tags for libraries
  • do not install headers in executable-only packages
  • explicit dependency to boost
  • remove obsolete autogenerated mainpage.dox files
  • remove trailing whitespaces
  • migrate to package format 2
  • sort dependencies
  • critically review dependencies
  • Contributors: ipa-fxm

0.6.3 (2015-06-17)

  • add_dependencies to generate_messages_cpp
  • use new Trigger from std_srvs
  • changed hardcoded namespace
  • changed wrong ROS output
  • Contributors: Thorsten Kannacher, ipa-fxm

0.6.2 (2014-12-15)

  • remove joint_states publisher for simulation - using JointStateController anyway
  • Contributors: ipa-fxm

0.6.1 (2014-09-17)

0.6.0 (2014-09-09)

0.5.7 (2014-08-26)

  • Merge pull request #163 from ipa320/hydro_dev updates from hydro_dev
  • 0.5.6
  • update changelog
  • adding timestamp to diagnostic message
  • Cleaned up cob_driver with reduced deps to compile on indigo
  • fix install tags
  • remove deprecated launch files in cob_driver and add nodes to cob_robots
  • Contributors: Alexander Bubeck, Florian Weisshardt, ipa-fxm

0.5.6 (2014-08-26)

  • Merge pull request #163 from ipa320/hydro_dev updates from hydro_dev
  • adding timestamp to diagnostic message
  • Cleaned up cob_driver with reduced deps to compile on indigo
  • fix install tags
  • remove deprecated launch files in cob_driver and add nodes to cob_robots
  • Contributors: Alexander Bubeck, Florian Weisshardt, ipa-fxm

0.5.3 (2014-03-31)

  • install tags
  • Contributors: ipa-fxm

0.5.2 (2014-03-20)

0.5.1 (2014-03-20)

  • some install tag updates
  • merge with groovy_dev
  • cherry-pick
  • removed a lot of code related to packages not available in hydro anymore
  • bugfix flexible odometry calculation based on number of wheels
  • reverted changes
  • new phidget driver
  • Merge branch \'groovy_dev\' of git:// into groovy_dev
  • fixed build errors for gcc version >= 4.7
  • fix compiler error for quantal
  • Installation stuff
  • cleaned up CMakeLists and added install directives
  • further modifications for catkin, now everything is compiling and linking
  • futher include and linkpath modifications
  • compiling but still some linker errors
  • Second catkinization push
  • First catkinization, still need to update some CMakeLists.txt
  • cleanup in base_drive_chain and undercarriage_ctrl
  • cob_undercarriage_ctrl: cleaned and improved ucar_ctrl now working properly on real robot (including recover)
  • cob_base_drive_chain: bugfixed for less than 4 wheels, doing initDrives() in sim-mode later: avoid node crash
  • cob_base_drive_chain: cleaned unused code
  • merge with ipa320
  • added joint name checking
  • added global diagnostic messages to base_drive_chain
  • cob_undercarriage_ctrl: odom in simulation looks great, in reality not
  • cob_undercarriage: cleaned up, odom-improvements tested in simu with navigation
  • merge
  • add header time stamp
  • remove compiler warnings
  • fix base_drive chain
  • moved services to base drive chain
  • base_sim: in simulation, now redirecting base joint infos from /joint_states to base_controller
  • worked on base_drive_chain for sim
  • using arg sim in launch files for base_controller
  • removed debug output
  • worked on base controller for simulation
  • recover and init services return true
  • fix for simulation
  • rearranging cob_camera_sensors launch files
  • cob_base: communication between controller and driver now directly using joint_command and state topics with pr2::JointTrajectoryControllerState msgs
  • modifications for icob and bugfix in base drive chain
  • config for cob3-3
  • Adaptions in base_drive_chain and undercarriage_ctrl for global /joint_states
  • Adapted base_drive_chain to communicate with controller using joint names and not only numbers anymore
  • Merge branch \'master\' of into review-fmw
  • additional undercarriage ctrl in simulation
  • undercarriage_ctrl in simulation
  • added missing file
  • moved GetJointState message ro base_drive_chain
  • changed trigger service
  • cob_base_drive_chain DEBUG. GetJointStates Service replaced through cyclical publishing topic in cob_base_drive_chain
  • cleanup in cob_driver
  • Moved hard-coded lines for head_axis_homing from CanDriveHarmonica.cpp into ElmoCtrl.cpp. Removed debugger in base_drive_chain.launch and undercarriage_ctrl.launch
  • added joint_state_combined to cob_bringup, small device modifications on cob3-1
  • Starting base_drive_chain and undercarriage_ctrl with GDB-debugger
  • Added cob_bringup _nt for ICM ctrl and added shutdown of drives in base_drive_chain to securily stop drives on Ctrl-C
  • restructured base_controller
  • base_drive_chain now can be reverted after EMStop
  • Now also with ElmoRecorderReadout feature low CPU costs in base_drive_chain
  • base_drive_chain: added main loop with evalCanBuffer to enable ElmoRecorderReadout. NEW: evalCanBuffer is only executed, when and until a readout is in process
  • debugged base_drive_chain: removed (empty) while-loop in main of node -> no more comp. power spoiled
  • system cleaned - missing launch files added
  • Modified launch files of cob_base_drive_chain, cob_relayboard, cob_undercaariage_ctrl and cob_teleop_ucar and made them hierarchic
  • merged with cpc-pk: added ctrl for tricycle-kinematic; specification of limit in CanDriveHarmonica can now be specified via Inifile; base_drive_chain can be operated on variable numbers of motors (lesser or equal to eight); variable setting of path to inifile for UndercarriageCtrlGeom; debugged relaysboard - reads Bus now nonblocking
  • Direct Kinematics, publish effort option in base_drive_chain
  • Made interface of undercarriage_ctrl_geom common for cob3 and cob3_5, adapted some launch files
  • Added HomingDigIn in CanCtrl.ini to specify which digital input gives homing signal. It\'s read out and passed to the CanNode via DriveParam.h
  • Successfully adapted multi-motor support on the level of base_drive_chain
  • Added NumMotors in Platform.ini, read this out in constructors of base_drive_chain and CanCtrlPltfCob3
  • Merged cob_base_drive_chain from cpc-ck for support of a variable number of motors
  • Merged in CanCtrlPltfCob3_5 to according CanCtrlPltfCob3. The new version by cpc-ck allows a variable number of motors.
  • temp commit of only CanCtrlPltfCob3.5 merged
  • update documentation and deleted tf broadcaster
  • Merge branch \'cpc-pk\' of into review-cpc-pk
  • Renamed and worked on cob_drive_identification, moved Elmo Recorder services to cob_srvs
  • Started generating a cob_drive_identification package
  • Corrected one mis-merge, successfully built merge.
  • merged in master and manually solved conflicts in base_drive_chain.cpp
  • Replaced some spaces with tabs
  • cleanup in stacks
  • debugging odometry calc
  • merging with cpc
  • Merge branch \'cpc-pk\' of into cpc-pk
  • fixed loop error in base_drive_chain
  • Merge branch \'review\' into cpc-pk
  • xml description updated
  • Cahnged cob_base_drive_chain -> watchdogs activated again, evalCanBuffer at rate of 50Hz, services continous, a lot Doxygen documentation in all ElmoRecorder related files
  • Deployment of undercarriage controller debugged and finished: launch-script cob_ucar_joy starts up relayboard, base_drive_chain and controller; also remaps topics and services in correct namespaces. Debugging of controller itself is work in progress: simplified and removed old stuff - code compiles - controller runs but appaerently has some bugs -> may not yet be used
  • Merge branch \'review-cpc\'
  • services added
  • Interface polishing, added srvs for base_drive_chain
  • Merge branch \'review\' into cpc-pk
  • Working ElmoRecorder Eadout, multiple motors, different objects with StatusRegister check
  • Improved interface for Readout control, added readoutRecorderTry using StatusRegister
  • Successfully uploaded Recorder Data, Watchdogs deactivated
  • Successfully uploaded Recorder Data, Watchdogs deactivated
  • Trying to get Readout running. Working system state (with debug outputs)
  • updated simulation files
  • debugging undercarriage drivers (base_drive_chain + relayboard + ucar_ctrl) - work in progress
  • cleanup in cob_driver
  • After merging in review branch
  • Added EvalCanBuffer to main loop of base_drive_chain.
  • Added some testing ElmoRecorder Service in base_drive_chain
  • Introduced a statusFlag in segData instead of FinishedTransmission and locked.
  • Frontend in base_drive_chain added, filenames can be passed now
  • ElmoRecorder: Data readout and processing
  • debugged ucar controller and base drive chain node - still not running
  • added windows.h; some modifications in ElmoCtrl -> not yet working
  • added classes to implement ESD can-itf; incorporated ESD interface as an option in cob_base_drive_chain-node via CanCtrlPltfCOb3; added windows.h to cob_utilities package
  • Updated Can Classes to new file structure; removed some leftovers; corrected comments at the beginning considering association to stacks and packages; moved Mutex.h to Utilities; - Debugged compiler error in cob_base_drive_chain
  • Implemented base controller - cob_undercarriage_ctrl - based on principle of rigid body motion; controller is not yet tested on hardware; moreover, not yet used: parameterserver for initializing controller, urdf-file to associate joints; also removed some bugs from base_drive_chain
  • after merging current review
  • adapt launch file to new packages names
  • moved files
  • renamed to cob
  • merged master
  • renamed packages to cob convention
  • renamed packages to cob
  • Contributors: Alexander Bubeck, Christian, Christian Connette, Richard Bormann, abubeck, cob, cpc, cpc-pk, ipa-bnm, ipa-cpc, ipa-fmw, ipa-fxm, ipa-srd

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