Contents
ROS API description
nxt_base_controller
nxt_base_controller provides a controller for a basic differential drive vehicle (i.e. a car).Subscribed Topics
~joint_states (sensor_msgs/JointState)- The current effort, position, and velocity of the servo motors.
- The desired linear and angular x,y,z of the base.
Published Topics
~joint_command (nxt_msgs/JointCommand)- Effort commands to move the motors.
Parameters
~base_parameters/r_wheel_joint (string, default: None)- The name of the right wheel joint.
- The name of the left wheel joint.
- The radius of the Lego wheel, this assumes both wheels have the same radius.
- The distance from the center of each wheel divided by 2.
- The ratio of the output velocity to the commanded effort.
nxt_base_odometry
nxt_base_odometry provides odometry for a basic differential drive vehicle (i.e. a car).Subscribed Topics
~joint_states (sensor_msgs/JointState)- The current effort, position, and velocity of the servo motors.
Published Topics
~odom (nav_msgs/Odometry)- The change in position over time in the fixed frame.
Parameters
~base_parameters/r_wheel_joint (string, default: None)- The name of the right wheel joint.
- The name of the left wheel joint.
- The radius of the Lego wheel, this assumes both wheels have the same radius.
- The distance from the center of each wheel divided by 2.