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steer_drive_controller package from steer_drive_ros reposteer_bot_hardware_gazebo steer_drive_controller steer_drive_ros stepback_and_steerturn_recovery |
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/CIR-KIT/steer_drive_ros.git |
VCS Type | git |
VCS Version | indigo-devel |
Last Updated | 2018-08-16 |
Dev Status | MAINTAINED |
CI status | Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Controller for a steer drive mobile base.
Additional Links
Maintainers
- Masaru Morita
Authors
- CIR-KIT
- Masaru Morita
Steer Drive Controller
Controller for a steer drive mobile base.
仕様
- Subscribe
-
steer_drive_controller/cmd_vel
にTwist型のメッセージを投げて下さい.
-
- Publish
-
steer_drive_controller/odom
を出すべきなのですが,未完成です.
-
- 例:SteerDriveController + SteerBot(RobotHWSim) で起動して,以下のメッセージで動く
rostopic pub -1 steer_drive_controller/cmd_vel geometry_msgs/Twist -- '[1.0, 0.0, 0.0]' '[0.0, 0.0, 0.5]'
third_robotのlinkメモ
ベース
- base_link
ステアリング
- steer
ホイール
- left_front_wheel
- left_rear_wheel
- right_front_wheel
- right_rear_wheel
センサ
- camera_link
- front_bottom_lrf
- front_top_lrf
- rear_bottom_lrf
third_robotのjointメモ
ホイール
- base_to_left_front_wheel
- base_to_left_rear_wheel
- base_to_right_front_wheel
- base_to_right_rear_wheel
ステアリング
- base_to_steer
- base_to_steer_right: gazebo用のvirtual.
- base_to_steer_left: gazebo用のvirtual.
デバッグ開発の手順
準備
- パスを通す
source path.bash
- gazeboを実行する
roslaunch third_robot_gazebo third_robot_world.launch
- コントローラ動作用の最低限の設定を行うlaunchファイルを実行する
roslaunch steer_drive_controller steer_drive_test_setting.launch
デバッガ
- パスを通したコンソールでQtCreatorを起動する
qtcreator
-
QtCreatorでROSのパッケージをビルド&デバッグ実行するにしたがってビルドする.実行オプションで
steer_drive_test
を選択する. -
third_robot_control/steer_drive_controller/include/steer_drive_controller.h
内で#define GUI_DEBUG
をアンコメントアウトする. - 53行目:
#define GUI_DEBUG // uncommentout when you use qtcreator for debugging
ってとこ. -
デバッグ用のモジュールに名前空間がついてないので,無理やり付与する設定.
-
third_robot_control/steer_drive_controller/test/steer_drive_test.cpp
のmain関数内でブレイクポイントを置いてデバッグ実行.- SteerRobotはフェイクで作ってある.
-
bool rt_code = rb_controller.init(steer_drive_bot, nh_main, nh_control);
でコントローラの初期化
CHANGELOG
\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package steer_drive_controller \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^
0.1.0 (2016-12-28)
- steer_drive_controller: New controller for steering mechanism drive systems.
- This controller was built up from an existing controller, diff_drive_controller.
- Control is in the form of a velocity command, that is split then sent on the single wheel joint and single steer joint.
- Odometry is published to tf and to a dedicated nav__msgs/Odometry topic.
- Realtime-safe implementation.
- Implements task-space velocity, acceleration and jerk limits.
- Automatic stop after command time-out.
- Contributors: Masaru Morita.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
Name |
---|
gazebo |
Dependant Packages
Name | Deps |
---|---|
steer_drive_ros |
Messages
No message files found.
Services
No service files found
Plugins
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