This is a hero_chassis_controller to control a virtual hero_robot_chassis in gazebo.
Keywords: ROS,ros_control,PID,Mecanum wheel
The source code is released under a BSD 3-Clause license.
Author: WiseL00k
Affiliation: WiseL00k
Maintainer: WiseL00k, [email protected]
The hero_chassis_controller package has been tested under ROS Noetic on respectively Ubuntu 20.04.
- Robot Operating System (ROS) (middleware for robotics)
- rm_description
- controller_interface
- hardware_interface
- forward_command_controller
- pluginlib
- control_toolbox
- realtime_tools
- nav_msgs
- tf
To build from source, clone the latest version from this repository into your catkin workspace and compile the package using
cd catkin_workspace/src
git clone [email protected]:WiseL00k/hero_chassis_controller.git
cd ../
rosdep install --from-paths . --ignore-src
catkin build
Run the simulation and controller with
roslaunch hero_chassis_controller run_simulation_and_controller.launch
Or use mon:
roscore
mon launch hero_chassis_controller run_simulation_and_controller.launch
- controllers.yaml The Params of hero_chassis_controller and joint_state_controller.
- run_simulation_and_controller.launch: Simulate the hero chassis in gazebo and load hero_chassis_controller and joint_state_controller.
Control hero robot chassis motion.
-
/cmd_vel([geometry_msgs/Twist])Expected chassis speed.
-
/odom([nav_msgs/Odometry])Odometer information.
Generic Keyboard Teleop for ROS --cpp version
-
/cmd_vel([geometry_msgs/Twist])Expected chassis speed.
Run.
rosrun hero_chassis_controller teleop_twist_keyboard
Reading from the keyboard and Publishing to Twist!
---------------------------
Moving around:
q w e
a s d
z x c
CTRL-C then press any key to quit
Generic Keyboard Teleop for ROS --py version
-
/cmd_vel([geometry_msgs/Twist])Expected chassis speed.
Run.
rosrun hero_chassis_controller teleop_twist_keyboard.py
With custom values.
rosrun hero_chassis_controller teleop_twist_keyboard.py _speed:=0.9 _turn:=0.8
Publishing to a different topic (in this case my_cmd_vel).
rosrun hero_chassis_controller teleop_twist_keyboard.py cmd_vel:=my_cmd_vel
Reading from the keyboard and Publishing to Twist!
---------------------------
Moving around:
u i o
j k l
m , .
For Holonomic mode (strafing), hold down the shift key:
---------------------------
U I O
J K L
M < >
t : up (+z)
b : down (-z)
anything else : stop
q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
CTRL-C to quit
If your mobile base requires constant updates on the cmd_vel topic, teleop_twist_keyboard can be configured to repeat
the last command at a fixed interval, using the repeat_rate private parameter.
For example, to repeat the last command at 10Hz:
rosrun hero_chassis_controller teleop_twist_keyboard.py _repeat_rate:=10.0
It is highly recommened that the repeat rate be used in conjunction with the key timeout, to prevent runaway robots.
Teleop_twist_keyboard can be configured to stop your robot if it does not receive any key presses in a configured time
period, using the key_timeout private parameter.
For example, to stop your robot if a keypress has not been received in 0.6 seconds:
rosrun hero_chassis_controller teleop_twist_keyboard.py _key_timeout:=0.6
It is recommended that you set key_timeout higher than the initial key repeat delay on your system (This delay is 0.5
seconds by default on Ubuntu, but can be adjusted).
Publishing a TwistStamped message instead of Twist can be enabled with the stamped private parameter. Additionally
the frame_id of the TwistStamped message can be set with the frame_id private parameter.
rosrun hero_chassis_controller teleop_twist_keyboard.py _stamped:=True _frame_id:=base_link
Please report bugs and request features using the Issue Tracker.