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quimbox:quimbase

quimesis_quimbase_description

Description

The package contains all the urdf file of the robot and the configuration files. It is the launcher of all the nodes as well but it is not a node itself.

quimesis_quimbase_odom

Description

This package takes the information from the motors and computes the odometry based on geometrical data from the robot. It also publishes an odometry frame that is used for gmapping computation.

Required packages

  • roscpp
  • std_msgs
  • sensor_msgs
  • nav_msgs
  • tf

Subscribe

  • /left/feedback
  • /right/feedback

The feedbacks are the wheels velocity.

Publish

  • /odom

The odometry contains the information about speed and position.

  • Odom frame (tf)

quimesis_quimbase_pipe_pid

Description

This package transforms the information from velocity command of the robot to velocity command for each wheel. It also transforms it from m/s to ticks/s.

Required packages

Subscribe

  • /cmd_vel

Publish

  • /left/cmd
  • /right/cmd

quimesis_quimbase_control

Description

Required packages

Subscribe

Publish

quimesis_quimbase_hardware_abstraction

Description

This package is used to simulate the motors-wheels part of the robot. This is not used anymore since Gazebo provide a good enough plugin for this.

Required packages

  • quimesis_can_utils

quimesis_quimbase_navigation

Description

Required packages

Subscribe

Publish

quimesis_quimbase_gazebo

Description

This package used to launch the simulation, but since all the files are in the description package now this package is only used to store the models and the worlds.

quimbox/quimbase.txt · Last modified: 2018/10/25 11:10 by gjohnen