quori_controller package from quori_ros repoquori_arm_controller quori_controller quori_description quori_face quori_holonomic_drive_controller quori_launch quori_mapping_odometry quori_nav quori_teleop respeaker_ros
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- Braden McDorman
quori_controller is an implementation of the ROS control stack for Quori and the RAMSIS base.
roslaunch quori_controller quori_control_holo.yaml
Launches the ROS control stack for Quori and the RAMSIS base in holonomic mode. The turret joint will not be accessible to ROS, as it is used in generating the psuedoholonomic behavior.
roslaunch quori_controller quori_control_diff.yaml
Launches the ROS control stack for Quori and the RAMSIS base in differential drive mode. The turret joint will be accessible via ROS.
The base turret orientation is calibrated with the
calibration.yaml file. Open the file and set
base_offset: to your robot's correct value. This value can be updated later if you update your hardware. To learn about calibrating the arms and spine see quori_embedded