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Package Summary

Tags No category tags.
Version 0.6.12
License Apache 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ipa320/cob_driver.git
VCS Type git
VCS Version indigo_dev
Last Updated 2018-11-29
Dev Status DEVELOPED
Released RELEASED

Package Description

cob_undercarriage_ctrl implements a controller for the omnidirectional base of Care-O-bot 3 on joint level. For a given Pltf-Twist the according wheel steering angles and linear wheel velocities are calculated based on the principle of rigid body motion. Each joint is than controlled individually to achieve the computed position and velocity

Additional Links

Maintainers

  • Matthias Gruhler

Authors

  • Christian Connette
README
No README found. See repository README.
CHANGELOG

Changelog for package cob_undercarriage_ctrl

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)

  • manually fix changelog
  • Contributors: ipa-fxm

0.6.8 (2016-10-10)

0.6.7 (2016-04-02)

0.6.6 (2016-04-01)

  • fix frame id for odometry
  • Contributors: ipa-cob4-2

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
  • add_dependencies EXPORTED_TARGETS
  • migrate to package format 2
  • sort dependencies
  • critically review dependencies
  • Contributors: ipa-fxm

0.6.3 (2015-06-17)

  • now checking for NaN-values in Twist message
  • Contributors: Thorsten Kannacher

0.6.2 (2014-12-15)

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
  • move EmergencyStopState.msg to cob_msgs + PowerBoardState works again
  • Merge branch 'hydro_dev' of github.com:ipa-fxm/cob_driver into indigo_dev
  • cob_undercarriage_ctrl: add parameter to disable tf broadcast
  • updated default values for maximal velocities in ucar_ctrl_watchdog
  • fixed indentation cob_undercarriage_ctrl.cpp
  • updated watchdog in ucar ctrl to stop in case we receive a really high command in at least one direction
  • added missing absolute value functions to velocity watchdog in undercarriage_control
  • beautification of some outputs in undercarriage control
  • corrected some typos and minor bugs
  • split maximal allowed velocity in undercarriage control in translational and rotaional part. set velocity to zero, if the maximal allowed velocity is exceeded.
  • first draft for undercarriage_control velocity-watchdog. not tested yet.
  • 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, Felix Messmer, Florian Mirus, Florian Weisshardt, ipa-fxm, ipa-mig

0.5.6 (2014-08-26)

  • Merge pull request #163 from ipa320/hydro_dev updates from hydro_dev
  • move EmergencyStopState.msg to cob_msgs + PowerBoardState works again
  • Merge branch 'hydro_dev' of github.com:ipa-fxm/cob_driver into indigo_dev
  • cob_undercarriage_ctrl: add parameter to disable tf broadcast
  • updated default values for maximal velocities in ucar_ctrl_watchdog
  • fixed indentation cob_undercarriage_ctrl.cpp
  • updated watchdog in ucar ctrl to stop in case we receive a really high command in at least one direction
  • added missing absolute value functions to velocity watchdog in undercarriage_control
  • beautification of some outputs in undercarriage control
  • corrected some typos and minor bugs
  • split maximal allowed velocity in undercarriage control in translational and rotaional part. set velocity to zero, if the maximal allowed velocity is exceeded.
  • first draft for undercarriage_control velocity-watchdog. not tested yet.
  • 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, Felix Messmer, Florian Mirus, Florian Weisshardt, ipa-fxm, ipa-mig

0.5.3 (2014-03-31)

  • removed obsoledte OpenCV reference
  • 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
  • edited odometry calculation so that we are now flexible on how many wheels we use
  • odometry calculation for 3 wheels
  • upstream changes
  • cob_undercarriage_ctrl: expose param for watchdog timeout
  • Installation stuff
  • Some small dependency tweaks.
  • 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
  • integration of cob_base_velocity_smoother, moved here from cob_navigation
  • activated tf publishing out of undercarriagectrl
  • cob_undercarriage_ctrl: cleaned and improved ucar_ctrl now working properly on real robot (including recover)
  • cob_undercarriage: removed odom_tf that conflicts with robot-pose-ekf in simulation
  • Merge remote branch 'origin-ipa320/master' into automerge
  • fixed calculation error in transform
  • changed odometry frames
  • undercarriage adaptions
  • cob_undercarriage: reverted changes that made recover impossible -> cpc-pk/ucar
  • cob_undercarriage CMakeList fixed
  • moved cob_undercarriage Trike ctrl to cob3_intern
  • cob_undercarriage_ctrl: changed odometry frames
  • cob_undercarriage_ctrl: odom in simulation looks great, in reality not
  • cob_undercarriage: cleaned up, odom-improvements tested in simu with navigation
  • cob_undercarriage_ctrl: corrected tf-name error
  • cob_undercarriage_ctrl: now using timer callback instead of ros::Rate
  • cob_undercarriage SIM: corrected wheel geometry parameters of PLatform.ini for simulation modell -> much improved odometry in simulation
  • cob_undercarriage_ctrl: improved odometry, doubled odom-rate and doing midpoint integration now
  • cob_undercarriage_ctrl: experiments on odometry
  • merge
  • undercarriage_nt: addings in ini-Files
  • comment unused code
  • removed compiler warnings
  • removed dependency to cob_msgs
  • 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
  • added is_moving service for undercarriage_ctrl
  • 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
  • camera settings added for head
  • Some adaptions for version 2 of tricycle testplatform
  • changed position of topic
  • added state topic to base controller
  • Merge branch 'master' of https://github.com/ipa-fmw/cob_driver into review-fmw
  • additional undercarriage ctrl in simulation
  • moved service
  • moved Emergency stop message
  • modified init_test
  • 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 testing and diag to sdh and base
  • some fake covariance
  • added watchdog to base controller
  • restructured base_controller
  • base_drive_chain now can be reverted after EMStop
  • base_drive_chain: added main loop with evalCanBuffer to enable ElmoRecorderReadout. NEW: evalCanBuffer is only executed, when and until a readout is in process
  • Modified launch files of cob_base_drive_chain, cob_relayboard, cob_undercaariage_ctrl and cob_teleop_ucar and made them hierarchic
  • added indirect dependencies (relayboard node, base_drive_chain node) to manifest of under_carriage_ctrlr
  • 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
  • removed hard coded entry of camera-axis limit switch in CanDriveHarmonica
  • Direct Kinematics, publish effort option in base_drive_chain
  • Running in teleop_joystick mode, need small adaptions to EncIncrementsOffset of steering motor
  • Controller working for cob3_5 using standart ROS cob3 components
  • Made interface of undercarriage_ctrl_geom common for cob3 and cob3_5, adapted some launch files
  • Working on cob_undercarriage3_5
  • update documentation and deleted tf broadcaster
  • modifications for navigation with ucar
  • debugging odometry calc
  • merging with cpc
  • implemented, debugged and tested basic undercarriage controller - works on Descartes principal of rigid body motion
  • 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'
  • updated simulation files
  • debugging undercarriage drivers (base_drive_chain + relayboard + ucar_ctrl) - work in progress
  • cleanup in cob_driver
  • renamed pltf_command topic in ucarctrl
  • debugged ucar controller and base drive chain node - still not running
  • 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
  • added files for undercarriage controller
  • Contributors: Alexander Bubeck, Christian, Christian Connette, Richard Bormann, abubeck, cob, cpc, cpc-pk, fmw-jk, ipa-cpc, ipa-fmw, ipa-frm, ipa-fxm, ipa-mig, ipa-srd

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged cob_undercarriage_ctrl at answers.ros.org

Package Summary

Tags No category tags.
Version 0.6.12
License Apache 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ipa320/cob_driver.git
VCS Type git
VCS Version indigo_dev
Last Updated 2018-11-29
Dev Status DEVELOPED
Released RELEASED

Package Description

cob_undercarriage_ctrl implements a controller for the omnidirectional base of Care-O-bot 3 on joint level. For a given Pltf-Twist the according wheel steering angles and linear wheel velocities are calculated based on the principle of rigid body motion. Each joint is than controlled individually to achieve the computed position and velocity

Additional Links

Maintainers

  • Matthias Gruhler

Authors

  • Christian Connette
README
No README found. See repository README.
CHANGELOG

Changelog for package cob_undercarriage_ctrl

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)

  • manually fix changelog
  • Contributors: ipa-fxm

0.6.8 (2016-10-10)

0.6.7 (2016-04-02)

0.6.6 (2016-04-01)

  • fix frame id for odometry
  • Contributors: ipa-cob4-2

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
  • add_dependencies EXPORTED_TARGETS
  • migrate to package format 2
  • sort dependencies
  • critically review dependencies
  • Contributors: ipa-fxm

0.6.3 (2015-06-17)

  • now checking for NaN-values in Twist message
  • Contributors: Thorsten Kannacher

0.6.2 (2014-12-15)

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
  • move EmergencyStopState.msg to cob_msgs + PowerBoardState works again
  • Merge branch 'hydro_dev' of github.com:ipa-fxm/cob_driver into indigo_dev
  • cob_undercarriage_ctrl: add parameter to disable tf broadcast
  • updated default values for maximal velocities in ucar_ctrl_watchdog
  • fixed indentation cob_undercarriage_ctrl.cpp
  • updated watchdog in ucar ctrl to stop in case we receive a really high command in at least one direction
  • added missing absolute value functions to velocity watchdog in undercarriage_control
  • beautification of some outputs in undercarriage control
  • corrected some typos and minor bugs
  • split maximal allowed velocity in undercarriage control in translational and rotaional part. set velocity to zero, if the maximal allowed velocity is exceeded.
  • first draft for undercarriage_control velocity-watchdog. not tested yet.
  • 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, Felix Messmer, Florian Mirus, Florian Weisshardt, ipa-fxm, ipa-mig

0.5.6 (2014-08-26)

  • Merge pull request #163 from ipa320/hydro_dev updates from hydro_dev
  • move EmergencyStopState.msg to cob_msgs + PowerBoardState works again
  • Merge branch 'hydro_dev' of github.com:ipa-fxm/cob_driver into indigo_dev
  • cob_undercarriage_ctrl: add parameter to disable tf broadcast
  • updated default values for maximal velocities in ucar_ctrl_watchdog
  • fixed indentation cob_undercarriage_ctrl.cpp
  • updated watchdog in ucar ctrl to stop in case we receive a really high command in at least one direction
  • added missing absolute value functions to velocity watchdog in undercarriage_control
  • beautification of some outputs in undercarriage control
  • corrected some typos and minor bugs
  • split maximal allowed velocity in undercarriage control in translational and rotaional part. set velocity to zero, if the maximal allowed velocity is exceeded.
  • first draft for undercarriage_control velocity-watchdog. not tested yet.
  • 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, Felix Messmer, Florian Mirus, Florian Weisshardt, ipa-fxm, ipa-mig

0.5.3 (2014-03-31)

  • removed obsoledte OpenCV reference
  • 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
  • edited odometry calculation so that we are now flexible on how many wheels we use
  • odometry calculation for 3 wheels
  • upstream changes
  • cob_undercarriage_ctrl: expose param for watchdog timeout
  • Installation stuff
  • Some small dependency tweaks.
  • 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
  • integration of cob_base_velocity_smoother, moved here from cob_navigation
  • activated tf publishing out of undercarriagectrl
  • cob_undercarriage_ctrl: cleaned and improved ucar_ctrl now working properly on real robot (including recover)
  • cob_undercarriage: removed odom_tf that conflicts with robot-pose-ekf in simulation
  • Merge remote branch 'origin-ipa320/master' into automerge
  • fixed calculation error in transform
  • changed odometry frames
  • undercarriage adaptions
  • cob_undercarriage: reverted changes that made recover impossible -> cpc-pk/ucar
  • cob_undercarriage CMakeList fixed
  • moved cob_undercarriage Trike ctrl to cob3_intern
  • cob_undercarriage_ctrl: changed odometry frames
  • cob_undercarriage_ctrl: odom in simulation looks great, in reality not
  • cob_undercarriage: cleaned up, odom-improvements tested in simu with navigation
  • cob_undercarriage_ctrl: corrected tf-name error
  • cob_undercarriage_ctrl: now using timer callback instead of ros::Rate
  • cob_undercarriage SIM: corrected wheel geometry parameters of PLatform.ini for simulation modell -> much improved odometry in simulation
  • cob_undercarriage_ctrl: improved odometry, doubled odom-rate and doing midpoint integration now
  • cob_undercarriage_ctrl: experiments on odometry
  • merge
  • undercarriage_nt: addings in ini-Files
  • comment unused code
  • removed compiler warnings
  • removed dependency to cob_msgs
  • 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
  • added is_moving service for undercarriage_ctrl
  • 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
  • camera settings added for head
  • Some adaptions for version 2 of tricycle testplatform
  • changed position of topic
  • added state topic to base controller
  • Merge branch 'master' of https://github.com/ipa-fmw/cob_driver into review-fmw
  • additional undercarriage ctrl in simulation
  • moved service
  • moved Emergency stop message
  • modified init_test
  • 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 testing and diag to sdh and base
  • some fake covariance
  • added watchdog to base controller
  • restructured base_controller
  • base_drive_chain now can be reverted after EMStop
  • base_drive_chain: added main loop with evalCanBuffer to enable ElmoRecorderReadout. NEW: evalCanBuffer is only executed, when and until a readout is in process
  • Modified launch files of cob_base_drive_chain, cob_relayboard, cob_undercaariage_ctrl and cob_teleop_ucar and made them hierarchic
  • added indirect dependencies (relayboard node, base_drive_chain node) to manifest of under_carriage_ctrlr
  • 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
  • removed hard coded entry of camera-axis limit switch in CanDriveHarmonica
  • Direct Kinematics, publish effort option in base_drive_chain
  • Running in teleop_joystick mode, need small adaptions to EncIncrementsOffset of steering motor
  • Controller working for cob3_5 using standart ROS cob3 components
  • Made interface of undercarriage_ctrl_geom common for cob3 and cob3_5, adapted some launch files
  • Working on cob_undercarriage3_5
  • update documentation and deleted tf broadcaster
  • modifications for navigation with ucar
  • debugging odometry calc
  • merging with cpc
  • implemented, debugged and tested basic undercarriage controller - works on Descartes principal of rigid body motion
  • 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'
  • updated simulation files
  • debugging undercarriage drivers (base_drive_chain + relayboard + ucar_ctrl) - work in progress
  • cleanup in cob_driver
  • renamed pltf_command topic in ucarctrl
  • debugged ucar controller and base drive chain node - still not running
  • 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
  • added files for undercarriage controller
  • Contributors: Alexander Bubeck, Christian, Christian Connette, Richard Bormann, abubeck, cob, cpc, cpc-pk, fmw-jk, ipa-cpc, ipa-fmw, ipa-frm, ipa-fxm, ipa-mig, ipa-srd

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged cob_undercarriage_ctrl at answers.ros.org

No version for distro jade. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 0.5.5
License LGPL
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ipa320/cob_driver.git
VCS Type git
VCS Version hydro_dev
Last Updated 2015-06-12
Dev Status DEVELOPED
Released RELEASED

Package Description

cob_undercarriage_ctrl implements a controller for the omnidirectional base of Care-O-bot 3 on joint level. For a given Pltf-Twist the according wheel steering angles and linear wheel velocities are calculated based on the principle of rigid body motion. Each joint is than controlled individually to achieve the computed position and velocity

Additional Links

Maintainers

  • Matthias Gruhler

Authors

  • Christian Connette
README
No README found. See repository README.
CHANGELOG

Changelog for package cob_undercarriage_ctrl

0.5.3 (2014-03-31)

  • removed obsoledte OpenCV reference
  • 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
  • edited odometry calculation so that we are now flexible on how many wheels we use
  • odometry calculation for 3 wheels
  • upstream changes
  • cob_undercarriage_ctrl: expose param for watchdog timeout
  • Installation stuff
  • Some small dependency tweaks.
  • 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
  • integration of cob_base_velocity_smoother, moved here from cob_navigation
  • activated tf publishing out of undercarriagectrl
  • cob_undercarriage_ctrl: cleaned and improved ucar_ctrl now working properly on real robot (including recover)
  • cob_undercarriage: removed odom_tf that conflicts with robot-pose-ekf in simulation
  • Merge remote branch 'origin-ipa320/master' into automerge
  • fixed calculation error in transform
  • changed odometry frames
  • undercarriage adaptions
  • cob_undercarriage: reverted changes that made recover impossible -> cpc-pk/ucar
  • cob_undercarriage CMakeList fixed
  • moved cob_undercarriage Trike ctrl to cob3_intern
  • cob_undercarriage_ctrl: changed odometry frames
  • cob_undercarriage_ctrl: odom in simulation looks great, in reality not
  • cob_undercarriage: cleaned up, odom-improvements tested in simu with navigation
  • cob_undercarriage_ctrl: corrected tf-name error
  • cob_undercarriage_ctrl: now using timer callback instead of ros::Rate
  • cob_undercarriage SIM: corrected wheel geometry parameters of PLatform.ini for simulation modell -> much improved odometry in simulation
  • cob_undercarriage_ctrl: improved odometry, doubled odom-rate and doing midpoint integration now
  • cob_undercarriage_ctrl: experiments on odometry
  • merge
  • undercarriage_nt: addings in ini-Files
  • comment unused code
  • removed compiler warnings
  • removed dependency to cob_msgs
  • 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
  • added is_moving service for undercarriage_ctrl
  • 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
  • camera settings added for head
  • Some adaptions for version 2 of tricycle testplatform
  • changed position of topic
  • added state topic to base controller
  • Merge branch 'master' of https://github.com/ipa-fmw/cob_driver into review-fmw
  • additional undercarriage ctrl in simulation
  • moved service
  • moved Emergency stop message
  • modified init_test
  • 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 testing and diag to sdh and base
  • some fake covariance
  • added watchdog to base controller
  • restructured base_controller
  • base_drive_chain now can be reverted after EMStop
  • base_drive_chain: added main loop with evalCanBuffer to enable ElmoRecorderReadout. NEW: evalCanBuffer is only executed, when and until a readout is in process
  • Modified launch files of cob_base_drive_chain, cob_relayboard, cob_undercaariage_ctrl and cob_teleop_ucar and made them hierarchic
  • added indirect dependencies (relayboard node, base_drive_chain node) to manifest of under_carriage_ctrlr
  • 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
  • removed hard coded entry of camera-axis limit switch in CanDriveHarmonica
  • Direct Kinematics, publish effort option in base_drive_chain
  • Running in teleop_joystick mode, need small adaptions to EncIncrementsOffset of steering motor
  • Controller working for cob3_5 using standart ROS cob3 components
  • Made interface of undercarriage_ctrl_geom common for cob3 and cob3_5, adapted some launch files
  • Working on cob_undercarriage3_5
  • update documentation and deleted tf broadcaster
  • modifications for navigation with ucar
  • debugging odometry calc
  • merging with cpc
  • implemented, debugged and tested basic undercarriage controller - works on Descartes principal of rigid body motion
  • 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'
  • updated simulation files
  • debugging undercarriage drivers (base_drive_chain + relayboard + ucar_ctrl) - work in progress
  • cleanup in cob_driver
  • renamed pltf_command topic in ucarctrl
  • debugged ucar controller and base drive chain node - still not running
  • 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
  • added files for undercarriage controller
  • Contributors: Alexander Bubeck, Christian, Christian Connette, Richard Bormann, abubeck, cob, cpc, cpc-pk, fmw-jk, ipa-cpc, ipa-fmw, ipa-frm, ipa-fxm, ipa-mig, ipa-srd

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