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Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://gitlab.com/easymov/twistimu.git |
| VCS Type | git |
| VCS Version | 1.0.0 |
| Last Updated | 2017-10-16 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
ROS Node that convert IMU data to a Twist for manual robot drive.
Additional Links
No additional links.
Maintainers
- Easymov Robotics
Authors
- Gérald Lelong
TwistIMU
Package Summary
ROS Node that convert IMU data to a Twist for manual robot drive.
- Maintainer status: maintained
- Maintainer: Gérald Lelong (gerald.lelong AT easymov DOT fr)
- Author: Gérald Lelong
- License: BSD
- Source: git git@gitlab.com:easymov/twistimu.git (branch: master)
Overview
Use this node to drive your robot with an IMU device. Try this android app : https://github.com/chadrockey/android_sensors_driver to use an android phone as controller.
X axis command velocity, Y axis command direction.
Quick start
Clone this repository into the source directory of a valid catkin workspace then build it and don’t forget to source the setup file in the devel directory of your catkin workspace.
roslaunch twistimu turtle.launch
rosbag play bags/android_imu.bag
Node
twistimu.py
Subscribed Topics
~imu (sensors_msgs/IMU)
IMU input
Published Topics
~cmd (geometry_msgs/Twist)
Command output
Parameters (Dynamic Reconfigure)
- pitch_min [double]: angle where direction is full left
- pitch_neutral [double]: angle where direction is straight
- pitch_max [double]: angle where direction is full right
- roll_min [double]: angle where output speed is full backward
- roll_neutral [double]: angle where output speed is neutral
- roll_max [double]: angle where output speed is full forward
- speed_min [double]: maximum allowed backward speed
- speed_neutral [double]: stop speed
- speed_max [double]: maximum allowed forward speed
- roll_dead_zone [double]: neutral speed zone size
- pitch_dead_zone [double]: straight direction zone size
- max_acceleration [double]: maximum allowed acceleration
- track [double]: distance between the centerline of two roadwheels on the same axle
Launch file
roslaunch twistimu turtle.launch
Publish to /android/imu and control a turtle.
CHANGELOG
Changelog for package twistimu
1.0.0 (2017-10-16)
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
| Deps | Name |
|---|---|
| dynamic_reconfigure | |
| catkin | |
| geometry_msgs | |
| rospy | |
| sensor_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged twistimu at Robotics Stack Exchange
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