Package Summary

Tags No category tags.
Version 0.1.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/rm-controls/rm_controllers.git
VCS Type git
VCS Version master
Last Updated 2021-10-19
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

RoboMaster standard robot Gimbal controller

Additional Links

No additional links.

Maintainers

  • Qiayuan Liao

Authors

  • Qiayuan Liao

rm_calibration_controllers

Overview

Since the zero point of some motors will change after power off, rm_calibration_controller will move at a certain speed after it is started until motors reach the mechanical limit, and motors position will be reset to zero.

Keywords: calibration, ROS, position.

License

The source code is released under a BSD 3-Clause license.

Author: DynamicX
Affiliation: DynamicX
Maintainer: DynamicX

The package has been tested under ROS Indigo, Melodic and Noetic on respectively Ubuntu 18.04 and 20.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Hardware interface type

  • EffortJointInterface Used to send effort command to target joint to make it reach the calibration speed.
  • ActuatorExtraInterface Used to obtain the information of the target actuators offset, current position, the state of the whether it is stopped and the state of whether it is calibrated.

Installation

Installation from Packages

To install all packages from the this repository as Debian packages use

sudo apt-get install ros-noetic-calibration-controllers

Or better, use rosdep:

sudo rosdep install --from-paths src

Building from Source

Dependencies

  • roscpp
  • roslint
  • rm_msgs
  • rm_common
  • pluginlib
  • hardware_interface
  • controller_interface
  • realtime_tools
  • effort_controllers
  • control_msgs

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone https://github.com/rm-controls/rm_controllers.git
cd ../
rosdep install --from-paths . --ignore-src
catkin_make

ROS API

Service

Parameters

  • search_velocity (double)

    The joint angular velocity of calibrating.

  • threshold (double)

    This is angular velocity threshold. When the real time angular velocity of target motor lower than threshold, and last for a while, it can switch CALIBRATED from MOVING.

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker.

CHANGELOG

Changelog for package rm_calibration_controllers

0.1.1 (2021-08-12)

  • Set all version to the same
  • Add license to rm_calibration_controllers source files
  • Merge remote-tracking branch \'alias_memory/metapackage\'
  • Move all files to rm_calibration_controllers/rm_calibration_controllers, prepare for merge
  • Contributors: qiayuan

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Recent questions tagged rm_calibration_controllers at answers.ros.org