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quori_holonomic_drive_controller package from quori_ros repoquori_arm_controller quori_controller quori_description quori_face quori_holonomic_drive_controller quori_launch quori_mapping_odometry quori_nav quori_teleop respeaker_ros |
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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/Quori-ROS/quori_ros.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-12-16 |
| Dev Status | MAINTAINED |
| 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
Additional Links
Maintainers
- Braden McDorman
Authors
quori_holonomic_drive_controller
A controller_manager plugin for controlling the RAMSIS mobile base in a psuedo-holonomic way.
See quori_controller/config/quori_control_holo.yaml for an example of using this plugin with the ROS controller stack.
Parameters
~publish_rate: double
The rate at which velocities will be generated (default: 50.0).
~open_loop: bool
Estimate odometry internally rather than with encoder feedback (default: false)
~odom_frame_id: string
The tf frame for odometry (default: odom)
~base_frame_id: string
The base link for the ramsis (default: ramsis/wheel_axle)
~cmd_vel_timeout: double
If a cmd_vel message has not been sent in this many seconds, the ramsis base is stopped (default: 0.5).
~max_motor_left_vel: double
The maximum left motor velocity in meters per second (default: 0.6).
~max_motor_right_vel: double
The maximum right motor velocity in meters per second (default: 0.6).
~max_motor_turret_vel: double
The maximum turret motor velocity in radians per second (default: 3.49).
~wheel_separation: double
The distance between the wheels, in meters (default: 0.12284075).
~wheel_radius: double
The radius of the wheels, in meters (default: 0.0762).
Subscribed Topics
cmd_vel
Holonomic Twist messages used as input.
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| controller_interface | |
| nav_msgs | |
| geometry_msgs | |
| hardware_interface | |
| visualization_msgs | |
| pluginlib | |
| realtime_tools | |
| roscpp | |
| tf | |
| urdf | |
| catkin |