twistimu repository

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
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
twistimu 1.0.0

README

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.

CONTRIBUTING

No CONTRIBUTING.md found.