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Robots/Roch可以获得更多关于安装、教程等信息,roch_base是基于ros_control,也同样参考husky_base

概述

roch_base包有一些示例程序来测试传感器数据是否正常,如:超声波传感器,位置敏感检测器,悬崖感应器等。也有一些launch文件的示例程序,你可以自行查看。roch_node是roch_base包的核心代码。所有硬件接口都由roch_control配置。

roch_node

ROS与Roch控制芯片驱动和通信节点。 ros_control整合了diff_drive_controllerimu_sensor_controllerjoint_state_controller

Subscribed Topics

roch_velocity_controller/cmd_vel (geometry_msgs/Twist)

Published Topics

roch_velocity_controller/odom (nav_msgs/Odometry) status (roch_msgs/RochStatus) debug/raw_data_stream (sensor_msgs/Imu) sensor/imu_data (sensor_msgs/Imu) debug/raw_data_command (std_msgs/String) events/cliff (roch_msgs/CliffEvent) events/psd (roch_msgs/PSDEvent) events/ult (roch_msgs/UltEvent) core_sensors (roch_msgs/SensorState)

Parameters

~control_frequency (double, default: 10.0) ~diagnostic_frequency (double, default: 10.0) ~wheel_diameter (double, default: 0.095) ~max_accel (double, default: 5.0) ~max_speed (double, default: 0.45) ~polling_timeout_ (double, default: 20) ~cliff_height (double, default: 0.1) ~psd_length (double, default: 0.1) ~port (string, default: /dev/roch) ~imu_link_frame (string, default: imu_link)

示例

有5个示例程序可供测试:

它们有类似的操作步骤:

首先,确认你已经完成如下操作:

  rosrun roch_base test_<name_you_want>

提交错误

使用github地址report bugsrequest features.


2020-02-15 12:32