Differences

This shows you the differences between two versions of the page.

--- quimbox:ros [2018/09/17 16:20] – gjohnen
+++ quimbox:ros [2018/09/27 14:33] (current) – gjohnen
@@ Line 6: / Line 6: @@
 ===== quimesis_can_utils =====
-  * [[quimesis_can_utils]]
-  * [[quimesis_teleop]]
+==== Description ====
-  * [[quimesis_safety]]
-  * [[rplidar_ros]]
+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_quimmotor]]
-  *
+===== 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