/base_controller_ros

ROS implementation of base controller for mobile robot

Primary LanguageC++MIT LicenseMIT

base_controller_ros

Build Status License: MIT

ROS implementation of base controller for mobile robot

Environment

  • Ubuntu 20.04
  • ROS Noetic

Install and Build

# clone repository
cd /path/to/your/catkin_ws/src
git clone https://github.com/ToshikiNakamura0412/base_controller_ros.git

# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic     # Install dependencies
catkin build base_controller_ros -DCMAKE_BUILD_TYPE=Release # Release build is recommended

How to use

roslaunch base_controller_ros base_controller.launch

Running the demo

# clone repository
cd /path/to/your/catkin_ws/src
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic
catkin build -DCMAKE_BUILD_TYPE=Release

# run demo
export TURTLEBOT3_MODEL=burger
roslaunch base_controller_ros test.launch

Node I/O

Node I/O

Nodes

base_controller

Published Topics

  • /cmd_vel (geometry_msgs/Twist)
    • The velocity command to robot

Subscribed Topics

  • /joy (sensor_msgs/Joy)
    • The joystick input
  • /planner/cmd_vel (geometry_msgs/Twist)
    • The velocity command from planner

Parameters

  • ~<name>/hz (int, default: 20 [Hz]):
    The rate of main loop
  • ~<name>/max_linear_vel (double, default: 0.25 [m/s]):
    The maximum linear velocity
  • ~<name>/max_angular_vel (double, default: 1.0 [rad/s]):
    The maximum angular velocity

References