Package Summary

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

Repository Summary

Checkout URI
VCS Type git
VCS Version master
Last Updated 2021-10-19
CI status No Continuous Integration
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

RoboMaster standard robot Shooter controller

Additional Links

No additional links.


  • Qiayuan Liao


  • Qiayuan Liao



The rm_shooter_controller has four states: STOP, READY, PUSH, and BLOCK, it controls the left and right friction wheels and the trigger wheel through PID algorithm according to the command. It can set the bullet speed by setting the angular velocity of the friction wheel, and at the same time realizes the block detection.

Keywords: ROS, robomaster, shooter


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

Author: DynamicX
Affiliation: DynamicX
Maintainer: DynamicX

The rm_shooter_controller package has been tested under ROS Melodic and Noetic on respectively 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

  • JointStateInterface Used to obtain the speed of friction wheel and trigger wheel and the position of trigger wheel.
  • EffortJointInterface Used to send torque commands for friction wheels and trigger wheel.


Installation from Packages

To install all packages from this repository as Debian packages use

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

or better use rosdep:

sudo rosdep install --from-paths src

Building from Source


  • rm_description
  • roscpp
  • roslint
  • rm_msgs
  • rm_common
  • pluginlib
  • controller_interface
  • hardware_interface
  • forward_command_controller
  • realtime_tools
  • control_toolbox
  • effort_controllers
  • dynamic_reconfigure


To build this package with catkin build. Clone the latest version from this repository into your catkin workspace.

git clone
rosdep install --from-paths . --ignore-src
catkin build


Run the controller with mon launch:

mon launch rm_shooter_controllers load_controllers.launch


  • shooter.cfg: Add parameters related to friction wheel's angular velocity corresponding to each bullet speed and trigger block detection parameters.

Launch files

  • load_controller.launch: Load the parameters in config files and load the shooter controller.


Subscribed Topics

  • command (rm_msgs/ShootCmd)

Commands of controller state, bullet speed, frequency of shooting.


  • block_effort, block_speed, block_duration (double)

When the torque of the trigger motor is greater than block_effort (in N·m), and the angular velocity of trigger motor is less than block_speed (in rad/s), it will be regarded as blocking if it continues for block_duration (in s), and the the state of shooter controller will switch to BLOCK.

  • block_overtime (double)

If the time to enter BLOCK state exceeds block_overtime (in s), the state of shooter controller will switch to PUSH.

  • anti_block_angle (double)

If shooter controller enter BLOCK state, the friction wheel will reverse anti_block_angle (in rad) to try to get rid of blocking. When the friction wheel get rid of BLOCK state successfully, the state of shooter controller will switch to PUSH.

  • anti_block_threshold (double)

If the anti angle of the friction wheel exceeds anti_block_threshold (in rad), it means that friction wheel reverse successfully.

  • qd_10, qd_15, qd_18, qd_30 (double)

These parameters mean the friction wheel's angular velocity, the number of it's name expresses different bullet speeds (in m/s).

Controller configuration examples

Complete description

    type: rm_shooter_controllers/Controller
    publish_rate: 50
      joint: "left_friction_wheel_joint"
      pid: { p: 0.001, i: 0.01, d: 0.0, i_clamp_max: 0.01, i_clamp_min: -0.01, antiwindup: true, publish_state: true }
      joint: "right_friction_wheel_joint"
      pid: { p: 0.001, i: 0.01, d: 0.0, i_clamp_max: 0.01, i_clamp_min: -0.01, antiwindup: true, publish_state: true }
      joint: "trigger_joint"
      pid: { p: 50.0, i: 0.0, d: 1.5, i_clamp_max: 0.0, i_clamp_min: 0.0, antiwindup: true, publish_state: true }
    push_per_rotation: 8
    push_qd_threshold: 0.90
    block_effort: 0.95
    block_duration: 0.05
    block_overtime: 0.5
    anti_block_angle: 0.2
    anti_block_threshold: 0.1
    qd_15: 460.0
    qd_18: 515.0
    qd_30: 740.0

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker .


Changelog for package rm_shooter_controllers

0.1.1 (2021-08-12)

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

Wiki Tutorials

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