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deepracer_drive_plugin package from aws-deepracer repo

deepracer_bringup deepracer_description deepracer_drive_plugin cmdvel_to_servo_pkg deepracer_interfaces_pkg enable_deepracer_nav_pkg

API Docs
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Package Summary

Tags No category tags.
Version 0.0.1
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/aws-deepracer/aws-deepracer.git
VCS Type git
VCS Version main
Last Updated 2022-06-06
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The deepracer_gazebo package hosts the deepracer_drive plugin that is required to move the car in simulation.

Additional Links

No additional links.

Maintainers

  • AWS DeepRacer

Authors

No additional authors.
deepracer_gazebo/README.md

AWS DeepRacer Gazebo Package

Overview

The AWS DeepRacer repository contains the configuration and launch files to enable ROS Navigation Stack on AWS DeepRacer and control the vehicle using teleop-twist-keyboard, along with the core components to integrate AWS DeepRacer with ROS Navigation stack. For detailed information, see Introduction to the ROS Navigation stack using AWS DeepRacer Evo.

AWS DeepRacer uses Ackermann front-wheel steering to turn wheels on the inside and outside of a turn. This mean that the left and right front wheels generally turn at different angles. The deepracer_gazebo package contains the deepracer_drive gazebo plugin that has subscribes to the /cmd_vel topic and publishes the corresponding joint velocity and position commands to move the car in Gazebo environment. It also takes care of publishing the /odom messages required by the Nav2 packages.

License

The source code is released under Apache 2.0.

Plugin Details

Example:

    <plugin name='gazebo_ros_deepracer_drive' filename='libgazebo_ros_deepracer_drive.so'>

        <update_rate>15.0</update_rate>

        <!-- wheels -->
        <front_left_joint>front_left_wheel_joint</front_left_joint>
        <front_right_joint>front_right_wheel_joint</front_right_joint>
        <rear_left_joint>rear_left_wheel_joint</rear_left_joint>
        <rear_right_joint>rear_right_wheel_joint</rear_right_joint>
        <left_steering_joint>front_left_steer_joint</left_steering_joint>
        <right_steering_joint>front_right_steer_joint</right_steering_joint>

        <!-- Max absolute steer angle for tyre in radians-->
        <!-- Any cmd_vel angular z greater than this would be capped -->
        <max_steer>0.523599</max_steer>

        <!-- Max absolute linear speed in m/s -->
        <max_speed>4</max_speed>

        <!-- output -->
        <publish_odom>true</publish_odom>
        <publish_odom_tf>true</publish_odom_tf>

        <odometry_frame>odom</odometry_frame>
        <robot_base_frame>base_link</robot_base_frame>

    </plugin>

Node details

Subscribed topics

Topic name Message type Description
/cmd_vel geometry_msgs.msg.Twist Message which expresses velocity in free space broken into its linear and angular parts.

Published topics

Topic name Message type Description
/left_front_wheel_velocity_controller/commands Float64MultiArray This message is used to send the joint velocity command values through gazebo ros control to the left front wheel.
/right_front_wheel_velocity_controller/commands Float64MultiArray This message is used to send the joint velocity command values through gazebo ros control to the right front wheel.
/left_rear_wheel_velocity_controller/commands Float64MultiArray This message is used to send the joint velocity command values through gazebo ros control to the left rear wheel.
/right_rear_wheel_velocity_controller/commands Float64MultiArray This message is used to send the joint velocity command values through gazebo ros control to the right rear wheel.
/left_steering_hinge_position_controller/commands Float64MultiArray This message is used to send the joint position command values through gazebo ros control to the left steering hinge.
/right_steering_hinge_position_controller/commands Float64MultiArray This message is used to send the joint position command values through gazebo ros control to the right steering hinge.
/odom nav_msgs::msg::Odometry This message is used to publish the odometry message containing the pose and twist data.

TF Transformations

Transformation Description
odom -> base_link The odometry system to provides the odom -> base_link transformation that is required by the ROS Navigation stack.

Other References

Resources

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged deepracer_drive_plugin at Robotics Stack Exchange

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