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quimbox:ros [2018/09/21 14:27] – gjohnenquimbox:ros [2018/09/27 14:33] (current) – gjohnen
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 ===== quimesis_can_utils ===== ===== quimesis_can_utils =====
 +
 ==== Description ==== ==== 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 ===== ===== quimesis_teleop =====
Line 15: Line 16:
  
 This package takes the information from the joystick as the buttons pressed and transform it into a Twist speed format. This package takes the information from the joystick as the buttons pressed and transform it into a Twist speed format.
- 
-==== Required packages ==== 
  
 ==== Subscribe  ==== ==== Subscribe  ====
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 ===== quimesis_safety ===== ===== quimesis_safety =====
 +
 ==== Description ==== ==== 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  ==== ==== Subscribe  ====
 +
 +  * /cmd_vel_in
 +  * /odom
 +
 ==== Publish ====  ==== Publish ==== 
 +
 +  * /cmd_vel_out
  
 ===== rplidar_ros ===== ===== rplidar_ros =====
 +
 +[[http://wiki.ros.org/rplidar]]
 +
 ==== Description ==== ==== Description ====
-==== Required packages ==== + 
-==== Subscribe  ====+This package get the Lidar information and transform it into a laser scan (cloud of points). 
 ==== Publish ====  ==== Publish ==== 
 +
 +  * /laser_scan
  
 ===== quimesis_quimmotor ===== ===== quimesis_quimmotor =====
 ==== Description ==== ==== Description ====
 +
 +This packages ensures the communication between the nodes and the QuimDC.
 +
 ==== Required packages ==== ==== Required packages ====
 ==== Subscribe  ==== ==== Subscribe  ====
 +
 +  * /left/cmd
 +  * /right/cmd
 +
 ==== Publish ====  ==== Publish ==== 
 +
 +  * /left/feedback
 +  * /right/feedback
  
quimbox/ros.1537532823.txt.gz · Last modified: 2018/09/21 14:27 by gjohnen