repository: git://github.com/neobotix/neo_driver

Package Summary

transformation Node for neobotix robots with omnidirectional drive

Neo Platformctrl Mecanum

This package implements the diff mecanum kinematics to control mecanum platforms by [neobotix|neobotix].

Topics to publish/subscribe and configuration parameters

Subscribed Topics

/joint_states (sensor_msgs/JointStates)
  • gets the jointstates from the drives
/cmd_vel (geometry_msgs/Twist)
  • gets the velocity commands.

Published Topics

/odom (nav_msgs/Odometry)
  • publishes the robots odometry
/cmd_joint_traj (trajectory_msgs/JointTrajectory)
  • publishes the motor trajectory

Parameters

kinematics ()
  • chooses the kinematic model to be used.
wheelDiameter ()
  • the wheelDiameter in meter.
robotWidth ()
  • the robots width in meter.
robotLength ()
  • the robots length in meter.
sendTransform ()
  • should this node send transformations on /tf? [true, false]

Wiki: neo_platformctrl_mecanum (last edited 2012-02-10 13:39:10 by TimoHackel)