cmd_chassis

convert cmd_vel to chassis cmd

file descriptions

• fake_joint.py since the chassis’s angle is unavailable, we use a fake joint to simulate the rotation of the chassis as the navigator required
• twist_transformer transform the twist in chassis_link to yaw_link
• twist2chassis_cmd.py listen to cmd_vel(twist) and chassis_type(int8) and publish corresponding chassis_cmd. Chassis_type is defined in rm_hardware_driver/rm_interfaces/msg/ChassisCmd.msg: 1 for velocity control in yaw frame, 4 for spin at an angular velocity automatically(maybe a little bit different from the msg file)

导航电控通信测试

遥控器控制

run teleop node

# Terminal1
ros2 run teleop_twist_keyboard teleop_twist_keyboard

# Terminal2
. install/setup.bash
ros2 launch cmd_chassis cmd2chassis.launch.py

or

# Terminal1
ros2 run mouse_teleop mouse_teleop

# Terminal2
. install/setup.bash
ros2 launch cmd_chassis cmd2chassis.launch.py twist_topic:=/mouse_vel

also you can try other teleop nodes, just remember remap the topic to /cmd_vel

ros2 run joy_teleop joy_teleop
ros2 run key_teleop key_teleop
ros2 run teleop_twist_joy teleop_node

# Terminal3
. install/setup.bash
ros2 launch rm_base rm_base.launch.py

里程计，速度标定

# Terminal1
ros2 launch cmd_chassis odom.launch.py

# Terminal2
export TURTLEBOT3_MODEL=waffle
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/humble/share/turtlebot3_gazebo/models
ros2 launch nav2_bringup tb3_simulation_launch.py params_file:='/home/sentry_ws/src/sentry_bringup/params/odom_calib.yaml'

config the behavior tree (speed, time and distance etc.) at sentry_bringup/params/odom_calib.yaml