Only released in EOL distros:
Package Summary
The rb1_base_control package
- Maintainer status: maintained
- Maintainer: Roberto Guzmán <rguzman AT robotnik DOT es>, Roman Navarro Garcia <rnavarro AT robotnik DOT es>, Toni Aliques <aaliques AT robotnik DOT com>
- Author: Roberto Guzmán <rguzman AT robotnik DOT es>
- License: BSD
- Bug / feature tracker: https://github.com/RobotnikAutomation/rb1_base_sim/issues
- Source: git https://github.com/RobotnikAutomation/rb1_base_sim.git (branch: indigo-devel)
Package Summary
The rb1_base_control package
- Maintainer status: maintained
- Maintainer: Angel Soriano <asoriano AT robotnik DOT es>, Álvaro Villena <avillena AT robotnik DOT es>, David Redó <dredo AT robotnik DOT es>, Alejandro Arnal <aarnal AT robotnik DOT es>, Marc Bosch <mbosch AT robotnik DOT es>, Román Navarro <rnavarro AT robotnik DOT es>
- Author:
- License: BSD
- Bug / feature tracker: https://github.com/RobotnikAutomation/rb1_base_common/issues
- Source: git https://github.com/RobotnikAutomation/rb1_base_common.git (branch: kinetic-devel)
Contents
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
- 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
