Package Name

Overview

This is a template: replace, remove, and add where required. Describe here what this package does and what it’s meant for in a few sentences.

Keywords: example, package, template

Or, add some keywords to the Bitbucket or GitHub repository.

License

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

Author: Péter Fankhauser
Affiliation: ANYbotics
Maintainer: Péter Fankhauser, pfankhauser@anybotics.com

The PACKAGE NAME package has been tested under ROS Indigo, Melodic and Noetic on respectively Ubuntu 14.04, 18.04 and 20.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Installation

Installation from Packages

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

sudo apt-get install ros-noetic-...

Or better, use rosdep:

sudo rosdep install --from-paths src

Dependencies

• Robot Operating System (ROS) (middleware for robotics),

• Eigen (linear algebra library)

  sudo rosdep install –from-paths src

Running in Docker

Docker is a great way to run an application with all dependencies and libraries bundles together. Make sure to install Docker first.

First, spin up a simple container:

docker run -ti --rm --name ros-container ros:noetic bash

This downloads the ros:noetic image from the Docker Hub, indicates that it requires an interactive terminal (-t, -i) , gives it a name (--name), removes it after you exit the container (--rm) and runs a command (bash).

Now, create a catkin workspace, clone the package, build it, done!

apt-get update && apt-get install -y git
mkdir -p /ws/src && cd /ws/src
git clone https://github.com/leggedrobotics/ros_best_practices.git
cd ..
rosdep install --from-path src
catkin_make
source devel/setup.bash
roslaunch ros_package_template ros_package_template.launch

Unit Tests

Run the unit tests with

catkin_make run_tests_ros_package_template

Static code analysis

Run the static code analysis with

catkin_make roslint_ros_package_template

Config files

Config file folder/set 1

• config_file_1.yaml Shortly explain the content of this config file

Config file folder/set 2

• …

Nodes

ros_package_template

Reads temperature measurements and computed the average.

Subscribed Topics

• /temperature (sensor_msgs/Temperature)

  The temperature measurements from which the average is computed.

Published Topics

…

Services

• get_average (std_srvs/Trigger)

  Returns information about the current average. For example, you can trigger the computation from the console with

  rosservice call /ros_package_template/get_average
  

Parameters

• subscriber_topic (string, default: “/temperature”)

  The name of the input topic.

• cache_size (int, default: 200, min: 0, max: 1000)

  The size of the cache.

NODE_B_NAME

…

Complete description

orientation_controller:
  type: rm_orientation_controller/Controller
  publish_rate: 100
  name: "gimbal_imu"
  frame_source: "odom"
  frame_target: "base_link"

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker .

Changelog for package rm_orientation_controller

0.1.11 (2023-06-20)

• Merge branch 'master' into dev/balance
• Merge pull request #120 from ye-luo-xi-tui/master 0.1.10
• 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 #106 from ye-luo-xi-tui/master 0.1.9
• Contributors: ye-luo-xi-tui

0.1.9 (2023-02-21)

• Merge branch 'master' into balance_standard
• Merge pull request #97 from ye-luo-xi-tui/master 0.1.8
• Contributors: ye-luo-xi-tui, yezi

0.1.8 (2022-11-24)

• Merge pull request #91 from ye-luo-xi-tui/imu_offline Dealing with the situation of imu offline.
• Dealing with the situation of imu offline.
• Merge pull request #86 from NaHCO3bc/Readme Fix the dependence part bug.
• Modify the test file folder.
• Fix the dependence part bug.
• Merge pull request #85 from ye-luo-xi-tui/master 0.1.7
• Contributors: NaHCO3bc, ye-luo-xi-tui, yezi

0.1.7 (2022-09-10)

• Optimize rm_orientation_controller.
• Merge remote-tracking branch 'origin/master'
• Contributors: qiayuan, yezi

0.1.6 (2022-06-16)

• Merge remote-tracking branch 'origin/master'
• Contributors: qiayuan

0.1.5 (2022-06-10)

• Merge remote-tracking branch 'origin/master'
• Merge pull request #63 from ye-luo-xi-tui/master Publish tf from odom to base_link use imu data which is got from interface until getting imu data from topic
• 0.1.4
• Publish tf from odom to base_link use imu data which is got from interface until get imu data from topic.
• Merge pull request #53 from ye-luo-xi-tui/orientation_controller Fix a bug that time stamp error
• Fix a bug that time stamp error when it can't find transform from imu to odom.
• Merge branch 'master' into gimbal_track
• Merge pull request #45 from mlione/master Delete some config files in rm_controllers.
• Merge pull request #50 from ye-luo-xi-tui/ori Make rm_orientation_controller publish tf use imu data on the topic
• Delete some config files in rm_controller.
• Solve a problem that look up future transform.
• Delete publish_rate and relative codes.
• Publish tf use imu data on the topic.
• Merge pull request #46 from ye-luo-xi-tui/master Deprecated imu_filter_controller
• Contributors: QiayuanLiao, YuuinIH, mlione, qiayuan, yezi

0.1.3 (2022-03-28)

• Merge branch 'master' into forward_feed
• Merge pull request #40 from ye-luo-xi-tui/maintain Delete configuration of robot_state_controller in each of controllers' config file
• Delete configuration of robot_state_controller in each of controllers' config file
• Merge branch 'master' into standard3
• Merge remote-tracking branch 'origin/master'
• Contributors: QiayuanLiao, qiayuan, ye-luo-xi-tui, yezi

0.1.2 (2022-01-08)

• Merge branch 'master' into omni_wheel_controller
• Merge pull request #23 from ye-luo-xi-tui/master Add ImuFilterBase, overwrite ComplementaryController, add MadgwickController
• Fix format error (cherry picked from commit f7519e6800095d933f9d4c85f108ae5260001572)
• Merge branch 'master' of https://github.com/YuuinIH/rm_controllers
• Merge branch 'gimbal/opti_or_simplify' into chassis/balance_imu_interface
• Run pre-commit
• Merge branch 'master' into gimbal/opti_or_simplify # Conflicts: # rm_orientation_controller/launch/load_controllers.launch # rm_orientation_controller/src/orientation_controller.cpp
• Merge branch 'master' into chassis/balance_imu_interface
• Run pre-commit
• Update the config of rm_orientation_controller, load only one controller on launch instead of spawn controllers
• Correct "rm_orientation_controllers" to "rm_orientation_controller".
• Fix pre-commit
• Code style and delete unnecessary
• Merge branch 'master' into imu_filter_controllers # Conflicts: # imu_filter_controllers/CMakeLists.txt # imu_filter_controllers/include/imu_filter_controllers/complementary_controller.h # imu_filter_controllers/package.xml # imu_filter_controllers/src/complementary_controller.cpp
• Upgrade "hardware_interface::RobotStateInterface" to "rm_control::RobotStateInterface".
• Update orientation controller version.
• Merge remote-tracking branch 'alias_memory/metapackage'
• Move all files to rm_orientation_controller/rm_orientation_controller,prepare for merge
• Contributors: BruceLannn, QiayuanLiao, YuuinIH, qiayuan, yezi