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Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://gitlab.com/easymov/twistimu.git |
| VCS Type | git |
| VCS Version | 1.0.0 |
| Last Updated | 2017-10-16 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
ROS Node that convert IMU data to a Twist for manual robot drive.
Additional Links
No additional links.
Maintainers
- Easymov Robotics
Authors
- Gérald Lelong
TwistIMU
Package Summary
ROS Node that convert IMU data to a Twist for manual robot drive.
- Maintainer status: maintained
- Maintainer: Gérald Lelong (gerald.lelong AT easymov DOT fr)
- Author: Gérald Lelong
- License: BSD
- Source: git git@gitlab.com:easymov/twistimu.git (branch: master)
Overview
Use this node to drive your robot with an IMU device. Try this android app : https://github.com/chadrockey/android_sensors_driver to use an android phone as controller.
X axis command velocity, Y axis command direction.
Quick start
Clone this repository into the source directory of a valid catkin workspace then build it and don’t forget to source the setup file in the devel directory of your catkin workspace.
roslaunch twistimu turtle.launch
rosbag play bags/android_imu.bag
Node
twistimu.py
Subscribed Topics
~imu (sensors_msgs/IMU)
IMU input
Published Topics
~cmd (geometry_msgs/Twist)
Command output
Parameters (Dynamic Reconfigure)
- pitch_min [double]: angle where direction is full left
- pitch_neutral [double]: angle where direction is straight
- pitch_max [double]: angle where direction is full right
- roll_min [double]: angle where output speed is full backward
- roll_neutral [double]: angle where output speed is neutral
- roll_max [double]: angle where output speed is full forward
- speed_min [double]: maximum allowed backward speed
- speed_neutral [double]: stop speed
- speed_max [double]: maximum allowed forward speed
- roll_dead_zone [double]: neutral speed zone size
- pitch_dead_zone [double]: straight direction zone size
- max_acceleration [double]: maximum allowed acceleration
- track [double]: distance between the centerline of two roadwheels on the same axle
Launch file
roslaunch twistimu turtle.launch
Publish to /android/imu and control a turtle.
CHANGELOG
Changelog for package twistimu
1.0.0 (2017-10-16)
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 |
|---|---|
| dynamic_reconfigure | |
| catkin | |
| geometry_msgs | |
| rospy | |
| sensor_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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