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elektron_robot: elektron_base | elektron_bringup | elektron_defs | elektron_monitor | elektron_sensors
Package Summary
Documented
A ROS node which provides access to the Elektron mobile robot.
- Author: Konrad Banachowicz
- License: GPL
- Source: git https://github.com/RCPRG-ros-pkg/elektron_robot.git (branch: None)
elektron_robot: elektron_base | elektron_bringup | elektron_defs | elektron_monitor | elektron_sensors
Package Summary
Documented
A ROS node which provides access to the Elektron mobile robot.
- Author: Konrad Banachowicz
- License: GPL
- Source: git https://github.com/RCPRG-ros-pkg/elektron_robot.git (branch: None)
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Contents
Nodes
elektron_base_node
elektron_base_node controls Elektron mobile robot (set wheel speeds), retrieves and calculates odometry.Subscribed Topics
~cmd_vel (geometry_msgs/Twist)- Desired robot speed
Published Topics
~odom (nav_msgs/Odometry)- The odometry of the robot based on the wheel movement
Parameters
~device (string, default: /dev/protonek)- Linux USB device from which to read the data.
- Whether to publish or not odometry transform
- Linear scaling factor for correct odometry
- Angular scaling factor for correct odometry
Provided tf Transforms
odom → base_link- the pose of the robot base in the odom frame. Only provided when publish_odom_tf is enabled.
