Package Summary

The cirkit_unit03_base package

See Robots/CIR-KIT-Unit03 for instructions and tutorials.

Overview

The cirkit_unit03_base package contains a node for communicating with the CIR-KIT-Unit03 MCU, and launch files to bring up the CIR-KIT-Unit03 control and diagnostic systems. The cirkit_unit03_node hardware interface is configured through the cirkit_unit03_control package.

cirkit_unit03_node

Control and communication node for CIR-KIT-Unit03 MCU. Includes ros_control integration via steer_drive_controller.

Subscribed Topics

steer_drive_controller/cmd_vel (geometry_msgs/Twist)
  • Twist velocity command for CIR-KIT-Unit03 MCU, muxed in cirkit_unit03_control. External clients should publish to bare cmd_vel topic.

Published Topics

steer_drive_controller/odom (nav_msgs/Odometry)
  • Odometry information from CIR-KIT-Unit03 MCU.

Wiki: cirkit_unit03_base (last edited 2016-12-23 16:47:52 by MoriKen)