Package Name

Overview

This is a ROS control warped interface for RoboMaster motor and some robot hardware Keywords: ROS, RoboMaster

License

The source code is released under a [BSD 3-Clause license](LICENSE).

**Author: QiayuanLiao
Affiliation: [Dynamicx]()
Maintainer: QiayuanLiao, liaoq.nosp@m.iayu.nosp@m.an@gm.nosp@m.ail..nosp@m.com**

The rm_hw package has been tested under ROS Melodic and Noetic on respectively 18.04 and 20.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Installation

Installation from Packages

To install all packages from the this repository as Debian packages use

sudo apt-get install ros-noetic-...

Or better, use rosdep:

sudo rosdep install --from-paths src

Building from Source

Dependencies

• Robot Operating System (ROS) (middleware for robotics)
• rm_msg
• rm_common
• hardware_interface
• urdf
• transmission_interface
• joint_limits_interface
• controller_manager
• socketcan_interface
• angles
• realtime_tools
• tf2_ros
• kdl_parser

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone https://github.com/ethz-asl/ros_best_practices.git
cd ../
rosdep install --from-paths . --ignore-src
catkin_make

Unit Tests

Run the unit tests with

catkin_make run_tests_ros_package_template

Static code analysis

Run the static code analysis with

catkin_make roslint_ros_package_template

Usage

Describe the quickest way to run this software, for example:

Run the main node with

roslaunch ros_package_template ros_package_template.launch

Config files

Config file folder/set 1

• config_file_1.yaml Shortly explain the content of this config file

Config file folder/set 2

• ...

Launch files

• launch_file_1.launch: shortly explain what is launched (e.g standard simulation, simulation with gdb,...)

  Argument set 1

  • argument_1 Short description (e.g. as commented in launch file). Default: default_value.

  Argument set 2

  • ...
• ...

Nodes

rm_hw

Reads temperature measurements and computed the average.

Subscribed Topics

• /temperature (sensor_msgs/Temperature)

  The temperature measurements from which the average is computed.

Published Topics

...

Services

• get_average (std_srvs/Trigger)

  Returns information about the current average. For example, you can trigger the computation from the console with

  rosservice call /ros_package_template/get_average

Parameters

• subscriber_topic (string, default: "/temperature")

  The name of the input topic.

• cache_size (int, default: 200, min: 0, max: 1000)

  The size of the cache.

dbus_node

...

Plugins

robot_state_controller

Subscribed Topics

...

Published Topics

...

RevoluteTransmission

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker