Differences

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--- quimbox:quimbase [2018/09/17 16:01] – gjohnen
+++ quimbox:quimbase [2018/10/25 11:10] (current) – gjohnen
@@ Line 1: / Line 1: @@
-====== quimesis_quimbase_description ======
+===== quimesis_quimbase_description =====
-===== 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 ======
+===== quimesis_quimbase_odom =====
-===== Description =====
+==== Description ====
-This package takes the information from the motors and computes the odometry based on geometrical data from the robot.
+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 =====
+==== Required packages ====
   * roscpp
@@ Line 19: / Line 19: @@
   * tf
-===== Subscribe  =====
+==== Subscribe  ====
-===== Publish =====
-====== quimesis_quimbase_pipe_pid ======
+  * /left/feedback
+  * /right/feedback
-===== Description =====
+The feedbacks are the wheels velocity.
-===== Required packages =====
-===== Subscribe  =====
-===== Publish =====
-====== quimesis_quimbase_control ======
+==== Publish ====
-===== Description =====
+  * /odom
-===== Required packages =====
-===== Subscribe  =====
-===== Publish =====
-====== quimesis_quimbase_hardware_abstraction ======
+The odometry contains the information about speed and position.
-===== Description =====
+  * Odom frame (tf)
-===== Required packages =====
-===== Subscribe  =====
-===== Publish =====
-====== quimesis_quimbase_navigation ======
+===== quimesis_quimbase_pipe_pid =====
-===== Description =====
+==== Description ====
-===== Required packages =====
-===== Subscribe  =====
-===== Publish =====
-====== quimesis_quimbase_gazebo ======
+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.
-===== Description =====
+==== Required packages ====
-===== Required packages =====
-===== Subscribe  =====
-===== Publish =====
+==== 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.