rb1_base_common: rb1_base_description | rb1_base_localization | rb1_base_navigation | rb1_base_pad

Package Summary

The rb1_base_common package. It contains rb1 base common packages used for robot control and for simulation

rb1_base_common: rb1_base_control | rb1_base_description | rb1_base_localization | rb1_base_navigation | rb1_base_pad

Package Summary

The rb1_base_common package. It contains rb1 base common packages used for robot control and for simulation

Package Summary

This package contains the different controllers and launch files for the RB1 BASE robot, shared for real robot and simulation.

RB1 BASE RViz

List of packages

rb1_base_description

The urdf, meshes, and other elements needed in the description are contained here. This package includes the description of the RB1 BASE (and v0,v1 versions) mobile platforms. The package includes also some launch files to publish the robot state and to test the urdf files in rviz.

rb1_base_pad

This package contains the node that subscribes to /joy messages and publishes command messages for the robot platform including speed level control. The joystick output is feed to a mux (http://wiki.ros.org/twist_mux) so that the final command to the robot can be set by different components (move_base, etc.)

The node allows to load different types of joysticks (PS4, PS3, Logitech, Thrustmaster). New models can be easily added by creating new .yaml files. If modbus_io node is available, the digital outputs (ligths, axes, etc.) can also be controlled with the pad. If ptz camera is available, the pan-tilt-zoom can also be commanded with the pad.

Wiki: rb1_base_common (last edited 2016-07-12 07:42:55 by AliquesTomas)