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Package Summary

The p3dx_dpl package

Overview

Data Processing Layer (DPL) is a second layer in experimental robotic stack. The main task of this package is to fuse multiple sources of data from HAL. The output from nodes in DPL are standard higher level messages like nav_msgs/Odometry,sensor_msgs/PointCloud...

Architecture

For more information about whole experimental robot stack and ideas behind DPL please see our repo readme.

Dependencies

Packages

robot_localization

In DPL we use robot_localization package for fusion of IMU data and calculate wheel odometry. In current state we use our own fork of this package with some bug fixes. Please download and compile it from our repository.

Nodes

motor_controler

This motor driver is suitable for differential driven robot. Received data are in form of geometry_msgs/Twist and transformed into angular speeds for left and right wheels.

Subscribed Topics

cmd_vel (geometry_msgs/Twist)

Published Topics

hal/leftMotor/setVel (std_msgs/Float64) hal/rightMotor/setVel (std_msgs/Float64)

odometry_provider

This node calculates forward velocity and angular speed around Z axis of the robot with differential drive.

Subscribed Topics

hal/leftMotor/getState (sensor_msgs/JointState) hal/rightMotor/getState (sensor_msgs/JointState)

Published Topics

odom (nav_msgs/Odometry)

Parameters

~frameIDodom (string, default: odom) ~odomPublTopic (string, default: odom)

imu_provider

This node merges accelerometer and gyroscope data into complete sensor_msgs/Imu message.

odom_tf_broadcaster

Creates tf transformation between odom frame and robot's base link.

Parameters

~frameIDodom (string, default: odom) ~odomPublTopic (string, default: odom)

Provided tf Transforms

odombase_footprint


2019-07-13 12:57