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Package Summary

Tags No category tags.
Version 0.0.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/Quori-ROS/quori_ros.git
VCS Type git
VCS Version master
Last Updated 2021-12-16
Dev Status MAINTAINED
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

The quori_holonomic_drive_controller package

Additional Links

No additional links.

Maintainers

  • Braden McDorman

Authors

No additional authors.

quori_holonomic_drive_controller

A controller_manager plugin for controlling the RAMSIS mobile base in a psuedo-holonomic way.

See quori_controller/config/quori_control_holo.yaml for an example of using this plugin with the ROS controller stack.

Parameters

~publish_rate: double

The rate at which velocities will be generated (default: 50.0).

~open_loop: bool

Estimate odometry internally rather than with encoder feedback (default: false)

~odom_frame_id: string

The tf frame for odometry (default: odom)

~base_frame_id: string

The base link for the ramsis (default: ramsis/wheel_axle)

~cmd_vel_timeout: double

If a cmd_vel message has not been sent in this many seconds, the ramsis base is stopped (default: 0.5).

~max_motor_left_vel: double

The maximum left motor velocity in meters per second (default: 0.6).

~max_motor_right_vel: double

The maximum right motor velocity in meters per second (default: 0.6).

~max_motor_turret_vel: double

The maximum turret motor velocity in radians per second (default: 3.49).

~wheel_separation: double

The distance between the wheels, in meters (default: 0.12284075).

~wheel_radius: double

The radius of the wheels, in meters (default: 0.0762).

Subscribed Topics

cmd_vel

Holonomic Twist messages used as input.

CHANGELOG
No CHANGELOG found.

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

Recent questions tagged quori_holonomic_drive_controller at Robotics Stack Exchange

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