Skip to content

Kenny ROS Stack

Ilke Dincer edited this page Jun 30, 2022 · 15 revisions

Overview

Structure

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.

Useful Commands - ROS1

Initialise Kenny state publisher and robot description: roslaunch kenny_control setup.launch useGazebo:=False showSteeringPlugin:=False

Steerable Kenny: roslaunch kenny_control controller_spawner.launch

Control

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/

Navigation

ROS2 Migration

Simulating Tracks

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.

Manipulation

The joints of Kenny's arm are labelled as:

MoveIt

ROS2 - MoveGroup Node

Hardware Interface

ROS2 Control Package

CAN Packages

Other/Reference Robot Stacks