====== Robots ======
  * [[Quimbase]]

====== Generic packages ======


===== quimesis_can_utils =====

==== Description ====

This package is used as a library and not to instantiate nodes. It contains functions to read and write on the CAN bus. It is used by the quimmotor package.

===== quimesis_teleop =====

==== Description ====

This package takes the information from the joystick as the buttons pressed and transform it into a Twist speed format.

==== Subscribe  ====

  */joy

==== Publish ==== 

  */cmd_vel

===== quimesis_safety =====

==== Description ====

This package ensures that the physical limits (acceleration, speed,...) of the robot are not exceeded. It also ensures that the robot stops moving when the ref_speed is zero.

==== Subscribe  ====

  * /cmd_vel_in
  * /odom

==== Publish ==== 

  * /cmd_vel_out

===== rplidar_ros =====

[[http://wiki.ros.org/rplidar]]

==== Description ====

This package get the Lidar information and transform it into a laser scan (cloud of points).

==== Publish ==== 

  * /laser_scan

===== quimesis_quimmotor =====
==== Description ====

This packages ensures the communication between the nodes and the QuimDC.

==== Required packages ====
==== Subscribe  ====

  * /left/cmd
  * /right/cmd

==== Publish ==== 

  * /left/feedback
  * /right/feedback