Differences

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

--- quimbox:ros [2018/09/21 12:28] – gjohnen
+++ quimbox:ros [2018/09/27 14:33] (current) – gjohnen
@@ Line 6: / Line 6: @@
 ===== quimesis_can_utils =====
 ==== Description ====
-==== Required packages ====
-==== Subscribe  ====
+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 ====
-==== Required packages ====
+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 ====
-==== Required packages ====
+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 ====
-==== Required packages ====
-==== Subscribe  ====
+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