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quimbox:ros [2018/09/21 14:44] – gjohnenquimbox:ros [2018/09/27 13:40] – gjohnen
Line 27: Line 27:
  
 ===== quimesis_safety ===== ===== quimesis_safety =====
 +
 ==== Description ==== ==== Description ====
  
-This package ensures that the physical limits of the robot are not exceeded.+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.
  
 ==== Required packages ==== ==== Required packages ====
 ==== Subscribe  ==== ==== Subscribe  ====
 +
 +  * /cmd_vel_in
 +  * /odom
 +
 ==== Publish ====  ==== Publish ==== 
 +
 +  * /cmd_vel_out
  
 ===== rplidar_ros ===== ===== rplidar_ros =====
Line 46: Line 53:
 ===== quimesis_quimmotor ===== ===== quimesis_quimmotor =====
 ==== Description ==== ==== Description ====
- 
  
 This packages ensures the communication between the nodes and the QuimDC. This packages ensures the communication between the nodes and the QuimDC.
quimbox/ros.txt · Last modified: 2018/09/27 14:33 by gjohnen