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Kenny ROS Stack
One launch file for all base nodes (state publishers, robot description, etc.). Sets up robot description, and base requirements for other launch files.
Additional launch file for all control nodes, spawns all joint controllers, allows steering, etc.
Initialise Kenny state publisher and robot description: roslaunch kenny_control setup.launch useGazebo:=False showSteeringPlugin:=False
Steerable Kenny: roslaunch kenny_control controller_spawner.launch
https://github.com/BorgesJVT/ros2_control_demos/tree/demo_diff_drive_controller https://github.com/ros-controls/ros2_control_demos
https://roboticsbackend.com/create-a-ros-driver-package-introduction-what-is-a-ros-wrapper-1-4/
Current solution, two large wheels with 2 casters to balance. Unable to simulate the tracks well, but is good enough for control and teleoperation purposes.
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Gazebo Tracked Example
- Many links to simulate collision
- Simulating skid steering for tracked robot
The joints of Kenny's arm are labelled as:
MoveIt
- MoveIt Quickstart
- MoveIt Documentation
- MoveIt Config Assistant -- for Hydro?
ROS2 - MoveGroup Node
ROS2 Control Package
- http://control.ros.org/
- http://control.ros.org/resources/presentations/2021-10_ROS_World_2021-ros2_control_The_future_of_ros_control.pdf
CAN Packages
- Slate Robotics TR1
- Turtlebot 3
- _bringup: cameras/lidar?
- _description: meshes, rviz, urdf
- _example
- _navigation:
- move_base.launch: uses DWAPlannerROS?
- _navigation.launch: tbot3_remote.launch, move_base.launch, rviz open
- _slam
- _teleop
- _teleop_key.launch: launches teleop node (python script w/out .py extension)
- MecanumBot
- RazorBotz (NASA Lunarbotics/Robot Mining Competition Team)
- https://github.com/Razorbotz/ROS2 -- also using a SparkMax controller (with CAN?)