rm_chassis_controllers

Overview

There are three states: raw, follow and twist. The output torque and speed of each motor of the chassis can be calculated according to the current state of the control, the received speed and pose of the pan/tilt, and the speed and acceleration commands, and the data is returned by the motor to calculate The speed and posture of the chassis are released. The control algorithm involved in the chassis controller is PID algorithm.

Keywords: mecanum, swerve, balance, chassis, ROS, RoboMaster

Hardware interface type

• JointStateInterface Used to get the position and speed of chassis wheel joint.

• EffortJointInterface Used to send the torque command of chassis wheel joint.

• RoboSateInterface Used for high-frequency maintenance of the transformation relationship of changing odom to base_link.

Installation

Installation from Packages

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

sudo apt-get install ros-noetic-rm-chassis-controllers

Or better, use rosdep:

sudo rosdep install --from-paths src

Dependencies

• Robot Operating System (ROS) (middleware for robotics),
• roscpp
• rm_common
• controller_interface
• effort_controllers
• tf2_geometry_msgs
• angles
• robot_localization

ROS API

Subscribed Topics

• base_imu (sensor_msgs/Imu)

  The inertial measurement unit data of base command.

• command (rm_msgs::ChassisCmd)

  Set the mode, acceleration, and maximum power of the chassis.

• cmd_vel (geometry_msgs/Twist)

  Set the speed of the chassis.

Published Topics

• odom(nav_msgs/Odometry)

  Chassis odometer information (speed, position, covariance).

• state(rm_msgs::BalanceState)

  Contains quantities of state and control about the Balance.

Parameters

common

• wheel_radius (double)

  Radius of the wheels.

• wheel_track (double)

  The distance between the center of the left and right wheels on the same side.

• wheel_base (double)

  The distance between the center of the front and rear wheels on the same side.

• twist_angle (double)

  Amplitude of twist at twist state.

• enable_odom_tf (bool, default: true)

  Option.If it is set to true, it will store Transform in tf_buffer.

• publish_odom_tf_ (bool, default: false)

  Option.If it is set to true, enable_odom_tf is also true, it will send Transform from odom to base.

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Changelog for package rm_chassis_controllers

0.1.11 (2023-06-20)

• Merge pull request #132 from chenhuiYu00/change_chassis_topic Change chassis command topic.
• Change chassis command topic.
• Merge branch 'rm-controls:master' into master
• Merge pull request #123 from chenhuiYu00/dev/balance Add balance auto exit block
• Update balance model value.
• Rename BalanceMode.
• Separate balance model into functions.
• Use realtime pub in balance state.
• Merge branch 'master' into dev/balance
• Merge pull request #120 from ye-luo-xi-tui/master 0.1.10
• Update GYRO to RAW and enum rename.
• Merge branch 'master' into dev/balance
• Balance auto exit block add pitch limit.
• Update auto exit block.
• Add balance auto exit block.
• Merge branch 'rm-controls:master' into gpio_calibration_controller
• Contributors: 1moule, ye-luo-xi-tui, yuchen

0.1.10 (2023-03-25)

• Merge pull request #112 from ljq-lv/Delete Delete the chassis mode "GYRO"
• Merge pull request #115 from Edwinlinks/fix-odom Add manner to fix odom2base by adding outside odometry.
• Merge pull request #119 from ye-luo-xi-tui/balance_standard Clear position when position_des minus position_act bigger than threshold
• Modify topic name and add comment.
• Delete the unused header.
• Add manner to fix odom2base by adding outside odometry.
• Merge branch 'rm-controls:master' into master
• Modified the chassis's README
• Delete the chassis mode "GYRO"
• Merge pull request #111 from d0h0s/master Updated README.md of rm_chassis_controllers.
• Repaired the example of chassis_controller.
• Added the parameters of Omni and fixed the inappropriate description.
• Updated README.md of rm_chassis_controllers.
• Merge pull request #108 from Aung-xiao/master add mecanum.yaml
• change the name of the controller
• add mecanum.yaml
• Merge pull request #106 from ye-luo-xi-tui/master 0.1.9
• Clear position when position_des minus position_act bigger than threshold.
• Contributors: Aung-xiao, Edwinlinks, QiayuanLiao, d0h0s, ljq-lv, ye-luo-xi-tui, yezi

0.1.9 (2023-02-21)

• Merge pull request #105 from ljq-lv/gimbal_toward Add follow gimbal's chassis control
• Add follow gimbal's chassis control
• Add follow gimbal's chassis control
• Merge pull request #100 from ye-luo-xi-tui/balance_standard Add balance chassis controller
• Update note.
• Update test.
• Update controller description.
• Merge branch 'master' into balance_standard
• Modify the expected location update policy.
• Take some joints' name as params.
• Fix warning.
• Add power limit.
• Compute state matrix and control matrix with given params.
• Add balance_chassis's odometry.
• Transform IMU's data to base_link.
• Try to use PID controller to fix the problem that one block's position is differ from another.
• Revised dynamics model and remove gazebo dependency.
• Merge pull request #97 from ye-luo-xi-tui/master 0.1.8
• Fix mistake of orientation data.
• Add some test codes for balance chassis.
• Contributors: ljq-lv, ye-luo-xi-tui, yezi

0.1.8 (2022-11-24)

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