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Package Summary
Tags | No category tags. |
Version | 0.0.11 |
License | MIT |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/bluewhalerobot/xiaoqiang.git |
VCS Type | git |
VCS Version | kinetic-devel |
Last Updated | 2018-06-14 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The xiaoqiang driver package
Additional Links
Maintainers
- Xie fusheng
- Randoms
Authors
- Xie fusheng
xiaoqiang driver
xiaoqiang motor drivers
input topic
name | type | description |
---|---|---|
cmd_vel | geometry_msgs/Twist | robot velocity |
infrared_sensor | std_msgs/Bool | infrared sensor enable flag |
imu_cal | std_msgs/Bool | imu correction flag |
globalMoveFlag | std_msgs/Bool | if false robot will stop moving |
output topic
name | type | rate | description |
---|---|---|---|
odom | nav_msgs/Odometry | 50hz | robot odometry |
pose2d | geometry_msgs/Pose2D | 50hz | robot pose2d |
power | std_msgs/Float64 | 50hz | robot battery voltage |
twist | geometry_msgs/Twist | 50hz | robot current twist |
bar_points | sensor_msgs/PointCloud2 | None | objects detected by infrared sensor |
clear_points | sensor_msgs/PointCloud2 | None | no object at target points |
published tf transformation
name | relation | rate | description |
---|---|---|---|
tf | odom-->base_footprint | 50hz | robot tf transform |
tf_static | base_footprint-->base_link | 100hz | robot tf transform |
input param
name | default | description |
---|---|---|
port | /dev/xiaoqiang | xiaoqiang serial port |
baud | 115200 | serial port baud rate |
wheel_separation | 0.37 | distance between two wheels |
wheel_radius | 0.06 | radius of the wheel |
debug_flag | false | debug flag |
max_speed | 2.0 | max speed of the robot |
cmd_topic | cmd_vel | topic name to send velocity to |
Usage:
download to your ros workspace
cd [to your workspace]
git clone https://github.com/BlueWhaleRobot/xiaoqiang.git
cd ..
catkin_make
Quickstart
roslaunch xiaoqiang_driver xiaoqiang_driver.launch
Made with :heart: by BlueWhale Robot.
小强各底盘驱动
使用方法
安装到小强ROS工作目录
cd [到你的工作空间]
git clone https://github.com/BlueWhaleRobot/xiaoqiang.git
cd ..
catkin_make
直接启动
roslaunch xiaoqiang_driver xiaoqiang_driver.launch
由蓝鲸机器人精 :heart: 制作。
CHANGELOG
Changelog for package xiaoqiang_driver
Forthcoming
0.0.11 (2018-06-14)
0.0.10 (2018-06-09)
0.0.9 (2018-06-07)
0.0.8 (2018-06-06)
- add depth image process
- fix udev rules and some package names
- Contributors: Zhang Weijia, xiaoqiang
0.0.7 (2018-06-01)
- fix typo
- Contributors: xiaoqiang
0.0.6 (2018-05-31)
0.0.5 (2018-05-30)
0.0.3 (2018-05-29)
- add controller
- update readme
- add xiaoqiang server
- add many packages
- fix readme
- rename topics and add namespace
- change topic names
- add driver
- Contributors: xiaoqiang
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged xiaoqiang_driver at Robotics Stack Exchange
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