ROS implementation of base controller for mobile robot
- Ubuntu 20.04
- ROS Noetic
# 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
roslaunch base_controller_ros base_controller.launch
# 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
- /cmd_vel (
geometry_msgs/Twist
)- The velocity command to robot
- /joy (
sensor_msgs/Joy
)- The joystick input
- /planner/cmd_vel (
geometry_msgs/Twist
)- The velocity command from planner
- ~<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