• Quimbase

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.

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

• /joy

• /cmd_vel

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.

• /cmd_vel_in
• /odom

• /cmd_vel_out

http://wiki.ros.org/rplidar

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

• /laser_scan

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

• /left/cmd
• /right/cmd

• /left/feedback
• /right/feedback