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minimec_driver package from minimec-ros2 repo

minimec_bringup minimec_control minimec_description minimec_driver minimec_lights minimec_msgs

API Docs
Browse Code

Package Summary

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

Repository Summary

Description ROS2 implementation for control of the Minimec - a custom omnidirectional robot.
Checkout URI https://github.com/maxipalay/minimec-ros2.git
VCS Type git
VCS Version main
Last Updated 2024-04-11
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags python control cpp robotics rover ros2 mecanum-wheel
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Interface for Minimec's hardware communication.

Additional Links

No additional links.

Maintainers

  • Maximiliano Palay

Authors

No additional authors.
minimec_driver/README.md

minimec_driver

ROS2 package for controlling a mecanum wheel base. This package interfaces with the hardware directly or with abstractions of it. Example: Odrive provides nodes that offer topics and services, this package uses those and translate the information to ros-integration-friendly topics/services as needed for the Minimec.

Nodes

  • minimec_driver: subscribes to topics offered by the odrive controllers and publishes to topics that control the motors.

Configuration

A file for configuring basic parameters is included in config/params.yaml. Parameters include: names for the different topics the node should subscribe to. This file also serves as mapping between the axes of the robot and the odrives (relates odrive<->wheel in robot description).

Launch files

  • launch_driver.launch.py - launches the minimec_driver node and passes the parameters in the params file.
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
ament_cmake
ament_lint_auto
ament_lint_common
rclcpp
minimeclib
geomtry_msgs
odrive_can
tf2
tf2_ros
nav_msgs
sensor_msgs
tf2_geometry_msgs
minimec_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged minimec_driver at Robotics Stack Exchange

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