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Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/interbotix/interbotix_ros_rovers.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-05-18 |
| 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 interbotix_xslocobot_control package
Additional Links
No additional links.
Maintainers
- Solomon Wiznitzer
Authors
- Solomon Wiznitzer
interbotix_xslocobot_control
Overview
This package contains the configuration and launch files necessary to easily start the various components of the X-Series LoCoBot platform. This includes launching the xs_sdk node responsible for driving the DYNAMIXEL motors on the robot, loading the URDF to the robot_description parameter, starting the base, and activating the RealSense depth camera and RPLidar 2D laser scanner. Essentially, this package is what all ‘downstream’ ROS packages should reference to get the robot up and running.
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.
Package Dependencies
| Deps | Name |
|---|---|
| interbotix_xs_sdk | |
| interbotix_xs_modules | |
| interbotix_xslocobot_descriptions | |
| kobuki_node | |
| realsense2_camera | |
| rgbd_launch | |
| rplidar_ros | |
| catkin |
System Dependencies
No direct system dependencies.
Launch files
- launch/xslocobot_control.launch
-
- robot_model [default: ]
- robot_name [default: locobot]
- show_gripper_bar [default: true]
- show_gripper_fingers [default: true]
- external_urdf_loc [default: ]
- use_rviz [default: false]
- rviz_frame [default: $(arg robot_name)/base_footprint]
- base_type [default: $(optenv INTERBOTIX_XSLOCOBOT_BASE_TYPE create3)]
- lidar_type [default: $(optenv INTERBOTIX_XSLOCOBOT_LIDAR_TYPE rplidar_a2m8)]
- use_base [default: false]
- use_dock [default: false]
- use_lidar [default: false]
- show_lidar [default: $(arg use_lidar)]
- use_camera [default: false]
- filters [default: ]
- align_depth [default: false]
- color_fps [default: 30]
- color_width [default: 640]
- color_height [default: 480]
- depth_fps [default: 30]
- depth_width [default: 640]
- depth_height [default: 480]
- motor_configs [default: $(find interbotix_xslocobot_control)/config/$(arg robot_model).yaml]
- load_configs [default: true]
- use_sim [default: false]
- mode_configs [default: $(find interbotix_xslocobot_control)/config/modes_$(arg mode_type).yaml]
- launch/xslocobot_python.launch
-
- robot_model [default: ]
- use_nav [default: false]
- use_perception [default: false]
- use_armtag [default: false]
- use_static_transform_pub [default: false]
- use_sim [default: false]
- robot_name [default: locobot]
- show_gripper_bar [default: true]
- show_gripper_fingers [default: true]
- external_urdf_loc [default: ]
- use_rviz [default: false]
- rviz_frame [default: $(arg robot_name)/base_footprint]
- use_base [default: $(arg use_nav)]
- use_dock [default: false]
- use_lidar [default: false]
- show_lidar [default: $(arg use_lidar)]
- use_camera [default: $(eval arg('use_nav') or arg('use_perception'))]
- filters [default: pointcloud]
- align_depth [default: $(arg use_nav)]
- color_fps [default: 30]
- color_width [default: 640]
- color_height [default: 480]
- depth_fps [default: 30]
- depth_width [default: 640]
- depth_height [default: 480]
- load_configs [default: true]
- localization [default: false]
- rtabmap_args [default: ]
- use_rtabmapviz [default: false]
- rtabmapviz_args [default: ]
- database_path [default: ~/.ros/rtabmap.db]
- camera_tilt_angle [default: 0.2618]
- filter_ns [default: $(arg robot_name)/pc_filter]
- filter_params [default: $(find interbotix_xslocobot_perception)/config/filter_params.yaml]
- use_pointcloud_tuner_gui [default: false]
- enable_pipeline [default: $(arg use_pointcloud_tuner_gui)]
- cloud_topic [default: /$(arg robot_name)/camera/depth/color/points]
- tag_family [default: tagStandard41h12]
- standalone_tags [default: $(find interbotix_perception_modules)/config/tags.yaml]
- camera_frame [default: $(arg robot_name)/camera_color_optical_frame]
- apriltag_ns [default: $(arg robot_name)/apriltag]
- camera_color_topic [default: $(arg robot_name)/camera/color/image_raw]
- camera_info_topic [default: $(arg robot_name)/camera/color/camera_info]
- armtag_ns [default: $(arg robot_name)/armtag]
- ref_frame [default: $(arg robot_name)/base_link]
- arm_base_frame [default: $(arg robot_name)/plate_link]
- arm_tag_frame [default: $(arg robot_name)/ar_tag_link]
- use_armtag_tuner_gui [default: false]
- position_only [default: true]
- load_transforms [default: true]
- transform_filepath [default: $(find interbotix_xslocobot_perception)/config/static_transforms.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged interbotix_xslocobot_control at Robotics Stack Exchange
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