noetic

ROS Software Maintainer: Clobot

Clober Simulation Package

Clober Simulation package contains the launch files needed for simulation of the Clober Research Platform. Simulation within the virtual world would mitigate the risks and likelihood of failure of systems when it is applied into the real world. We aim to provide more realistic environments such that more accurate results can be reproduced in the future.

Clober e-Manual

• Clober e-manual on gitbook

ROS API

gazebo

This package is used gazebo_ros.

Subscribed Topics

cmd_vel (geometry_msgs/Twist)

• Twist has a linear component, for the (x,y,z) velocities, and an angular component for the angular rate about the (x,y,z) axes.

Published Topics

joint_states (sensor_msgs/JointState)

• Joint State for each non-fixed joint in the robot

imu (sensor_msgs/Imu)

• orientation data, including raw data of linear_acceleration and angular_velocity.

odom (nav_msgs/Odometry)

• estimation data of a position and velocity in free space

scan (sensor_msgs/LaserScan)

• single scan data from a planar laser range-finder

tf (tf2_msgs/TFMessage)

• maintains the relationship between coordinate frames in a tree structure buffered in time.

joint_state_publisher

This package is used joint_state_publisher

Published Topics

joint_states (sensor_msgs/JointState)

• Joint State for each non-fixed joint in the robot

robot_state_publisher

This package is used robot_state_publisher

Subscribed Topics

joint_states (sensor_msgs/JointState)

• joint position information

tf (tf2_msgs/TFMessage)

• maintains the relationship between coordinate frames in a tree structure buffered in time.