ArbotiX NUKE Controller
This module is part of the arbotix_python package.
The nuke_controller enables control of walking robots in a way that interfaces to the ROS navigation stack and other commonly available tools.
driver.py
The nuke controller provides high level control of a walking robot. This includes taking velocity commands and publishing odometry and tf information for the navigation stack.Subscribed Topics
/cmd_vel (geometry_msgs/Twist)- Movement commands.
Published Topics
/odom (nav_msgs/Odometry)- Odometry of base, for navigation stack.
Parameters
~nuke/rate (int, default: 10)- Rate at which to publish odometry topic. You must set this parameter to enable the nuke controller.
Provided tf Transforms
odom → base_link- Typical transform needed by navigation stack.
