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Package Summary

Tags No category tags.
Version 0.8.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/RoverRobotics/rr_openrover_stack.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2020-03-25
Dev Status MAINTAINED
CI status Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Provides an interface between ros and Rover Robotics rover hardware. Inputs to rr_openrover_driver include emergency stop and velocity commands. It outputs diagnostic data such as encoder readings and battery charge.

Additional Links

Maintainers

  • Nick Padilla

Authors

  • Jack Kilian

rr_openrover_driver

Documentation for this package can be found at http://wiki.ros.org/rr_openrover_driver

CHANGELOG

Changelog for package rr_openrover_driver

0.8.0 (2020-03-25)

0.7.4 (2020-02-19)

  • changed maintainership of all packages to nick padilla
  • Hotfix, remove integral gain overwrite
  • fix variable setting error affecting PID
  • exposed PID gains as ros parameters
  • added autodocking launch file and descriptions
  • Adding description and 4WD code
  • The coefficient that scaled the flipper motor commands wasn\'t being initialized properly so the flipper motor commands sent to the robot were flicking all over the place with the smallest change in commanded velocity. Solution: initialize the motor speed coefficients in every wheel configuration.
  • fix rover message buffer race condition
  • Updating the openerrover_driver to clean up how rover data is published. The current state of the driver data read from the rover is categorized as fast, medium, and slow rate data. All data types for a given rate are published in the same message. This requires users to parse the topic message to find the field for the desired information in the message. This pull request eliminates the rate based messages and instead publishes odometry, battery_state_of_charge and separate topics. For backwards compatibility the boolean parameter \"use_legacy\" publishes the rate topics if set to true. Additionally, all uses of tf have been updated to use tf2.
  • Contributors: Jack Kilian, padiln

0.7.3 (2019-10-14)

  • Migrating all usage of tf to tf2
  • Simplified rover data messages and only publish rate-based data in legacy mode

0.7.2 (2019-07-18)

  • Changed name to rr_openrover_drive from rr_openrover_basic
  • Refactored openrover_driver to accept Twist msgs instead of TwistStamped msgs

0.7.1 (2019-6-24)

  • Changed default port to /dev/rover
  • Changed CMAke to install diagnostics.py

0.7.0 (2019-5-13)

  • Fixed issue #12
  • Added fan speed control
  • Added launch file for 2wd teleop
  • Changed default fast rate data to 10hz

0.6.2 (2019-1-23)

  • Fixed issue #13

0.6.1 (2018-12-13)

  • Migrated release repo from /roverrobotics to /roverrobotics-release
  • Changed rosparam slippage_factor to traction_factor
  • Changed default weight to 20.0 lbs
  • Changed default drive type to 4WD
  • Changed default closed_loop_control_on to false
  • Removed low_speed_mode

0.6.0 (2018-12-08)

  • Added ROS topic /rr_openrover_driver/battery_status_a
  • Added ROS topic /rr_openrover_driver/battery_status_b

0.5.1 (2018-12-07)

  • Added ROS topic /rr_openrover_driver/motor_speeds_commanded
  • Added ROS topic /rr_openrover_driver/charging
  • Fixed issue #8

0.5.0 (2018-12-07)

  • Added ROS param for \'odom covariances\'
  • Added ROS param for \'slippage factor\'
  • Added diagnostics node
  • Fixed issue #1

0.4.0 (2018-07-23)

  • Added ROS param \'drive_type\'

0.3.0 (2018-07-19)

  • Added ROS topic /rr_openrover_driver/odom_encoder
  • Added 2nd maintainer to package.xml and URL to wiki

0.2.0 (2018-07-17)

  • Fixed low-speed mode turning so it has a continuous turning speed range
  • Added dependency to generate messages cpp to CMakeLists
  • updated package.xml to new format

0.1.0 (2018-07-10)

  • first public release for Kinetic

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps Name
1 message_generation
1 rr_openrover_driver_msgs
0 tf2_geometry_msgs
0 catkin
1 message_runtime
1 twist_mux
0 joy
0 geometry_msgs
0 nav_msgs
0 sensor_msgs
1 std_msgs
0 tf2
1 roscpp
1 rospy

System Dependencies

No direct system dependencies.

Launch files

  • launch/2wd_teleop.launch
      • openrover_node_name [default: rr_openrover_driver]
      • config_locks [default: $(find rr_openrover_driver)/config/twist_mux_locks.yaml]
      • config_topics [default: $(find rr_openrover_driver)/config/twist_mux_topics.yaml]
  • launch/4wd_teleop.launch
      • openrover_node_name [default: rr_openrover_driver]
      • config_locks [default: $(find rr_openrover_driver)/config/twist_mux_locks.yaml]
      • config_topics [default: $(find rr_openrover_driver)/config/twist_mux_topics.yaml]
  • launch/example.launch
      • openrover_node_name [default: rr_openrover_driver]
  • launch/4wd_teleop_test.launch
      • openrover_node_name [default: rr_openrover_driver]
      • config_locks [default: $(find rr_openrover_driver)/config/twist_mux_locks.yaml]
      • config_topics [default: $(find rr_openrover_driver)/config/twist_mux_topics.yaml]
  • launch/4wd_auto_dock.launch
      • openrover_node_name [default: rr_openrover_driver]
      • config_locks [default: $(find rr_openrover_driver)/config/twist_mux_locks.yaml]
      • config_topics [default: $(find rr_openrover_driver)/config/twist_mux_topics.yaml]
      • serial_no [default: ]
      • usb_port_id [default: ]
      • device_type [default: ]
      • json_file_path [default: ]
      • camera [default: camera]
      • tf_prefix [default: $(arg camera)]
      • external_manager [default: false]
      • manager [default: realsense2_camera_manager]
      • fisheye_width [default: 640]
      • fisheye_height [default: 480]
      • enable_fisheye [default: true]
      • depth_width [default: 640]
      • depth_height [default: 480]
      • enable_depth [default: true]
      • infra_width [default: 640]
      • infra_height [default: 480]
      • enable_infra1 [default: true]
      • enable_infra2 [default: true]
      • color_width [default: 640]
      • color_height [default: 480]
      • enable_color [default: true]
      • fisheye_fps [default: 30]
      • depth_fps [default: 30]
      • infra_fps [default: 30]
      • color_fps [default: 30]
      • gyro_fps [default: 400]
      • accel_fps [default: 250]
      • enable_gyro [default: true]
      • enable_accel [default: true]
      • enable_pointcloud [default: false]
      • pointcloud_texture_stream [default: RS2_STREAM_COLOR]
      • pointcloud_texture_index [default: 0]
      • enable_sync [default: false]
      • align_depth [default: false]
      • publish_tf [default: true]
      • tf_publish_rate [default: 0]
      • filters [default: ]
      • clip_distance [default: -2]
      • linear_accel_cov [default: 0.01]
      • initial_reset [default: false]
      • unite_imu_method [default: ]
      • topic_odom_in [default: odom_in]
      • calib_odom_file [default: ]
      • publish_odom_tf [default: true]
      • allow_no_texture_points [default: false]
      • image [default: color/image_raw]
      • transport [default: compressed]
      • fiducial_len [default: 0.14]
      • dictionary [default: 7]
      • do_pose_estimation [default: true]
      • ignore_fiducials [default: ]
      • fiducial_len_override [default: ]
  • launch/teleop.launch
      • openrover_node_name [default: rr_openrover_driver]
      • config_locks [default: $(find rr_openrover_driver)/config/twist_mux_locks.yaml]
      • config_topics [default: $(find rr_openrover_driver)/config/twist_mux_topics.yaml]
  • launch/rs_rtabmap.launch
      • device_type_camera1 [default: t265]
      • device_type_camera2 [default: d4.5]
      • serial_no_camera1 [default: ]
      • serial_no_camera2 [default: ]
      • camera1 [default: t265]
      • camera2 [default: d400]
      • clip_distance [default: -2]
      • use_rviz [default: true]
      • use_rtabmapviz [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rr_openrover_driver at answers.ros.org

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