hero_chassis_controller

Overview

This is a hero robot chassis controller.You can use this controller to control the hero robot.

Keywords: RoboMaster, ROS, ros_control

License

The source code is released under a BSD 3-Clause license.

Author: Péter Fankhauser
Affiliation: ANYbotics
Maintainer: Péter Fankhauser, pfankhauser@anybotics.com

The PACKAGE NAME package has been tested under [ROS] Indigo, Melodic and Noetic on respectively Ubuntu 14.04, 18.04 and 20.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Installation

Building from Source

Dependencies

Robot Operating System (ROS) (middleware for robotics),
rm_description
controller_interface
forward_command_controller
hardware_interface
pluginlib
roscpp
roslint
control_toolbox
dynamic_reconfigure
message_generation
std_msgs
realtime_tools
nav_msgs
tf2_ros
geometry_msgs
tf2_geometry_msgs
tf2
tf
rm_msgs
rm_common

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone git@github.com:ZiDXie/hero_chassis_controller.git
cd ../
rosdep install --from-paths . --ignore-src
catkin_make

Usage

Run the simulation and controller with:

roslaunch hero_chassis_controller hero.launch

Config files

controllers.yaml Params of hero_chassis_controller,joint_state_controller wheel_base,wheel_track,wheel_radius and control mode.

Launch files

hero.launch: Hero chassis simulation and hero chassis controller.

Nodes