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rb1_base_sim: rb1_base_control | rb1_base_gazebo | rb1_base_sim_bringup

Package Summary

The rb1_base_control package

rb1_base_common: rb1_base_control | rb1_base_description | rb1_base_localization | rb1_base_navigation | rb1_base_pad

Package Summary

The rb1_base_control package

Overview

This package contains the launch and configuration files to spawn the joint controllers with the ROS controller_manager. It allows to launch the RB1-Base joint controllers. Besides, it will execute a twist_mux instace in order to determine which cmd topic will be used.

Usage

In order to launch the rb1 controller along with the twist_mux node, execute the following command:

roslaunch rb1_base_control rb1_base_control.launch

Arguments

There are some arguments to keep in mind inside the launch file:

- sim: (default: False) Whether we are running the simulation

- cmd_vel: (default: robotnik_base_control/cmd_vel) Name of the cmd input topic. This arg will overwrite the param with the same name located in the config directory

- id_robot: (default: robot) Name identifier of the robot. Used for namespaces

- prefix: (default: robot_) Name identifier with an underscore

- has_elevator: (default: False) Whether the robot has an elevator. This arg will overwrite the param with the same name located in the config directory

- wheel_diameter: (default: 0.1524) Indicates the diameter of the wheel. This arg will overwrite the param with the same name located in the config directory

Nodes

Spawner

This spawner node from controller_manager package will spawn the robot's controller.

Subscribed Topics

robotnik_base_control/cmd_vel (geometry_msgs/Twist)
  • Input cmd velocity
imu/data (sensor_msgs/Imu)
  • Input imu topic used for odometry

Published Topics

robotnik_base_control/odom (nav_msgs/Odometry)
  • This is where the robot's odometry is being published

Parameters

type (string, default: rb1_base_controller/RB1BaseController)
  • Name of the controller that will be loaded in ros_control

Twist Mux

This node is from twist_mux package.

Wiki: rb1_base_control (last edited 2020-09-17 06:51:48 by DavidRedo)