Little Red Rover ROS Driver

Packages

This repo contains the following packages for working with Little Red Rover:

lrr_base

Nodes:

• lrr_base
  • Implementation of a ROS control hardware_interface.
    • Exposes a JointPublisher and a JointVelocityController
    • Makes the rover compatible with the standard ROS control differential drive controller
  • Implements a TCP client for each data source
    • Relays the recieved data into native ROS messages
    • Forwards joint state commands to the rover

Launch Files:

• base.launch
  • Starts the robot connection
  • Calls description.launch from lrr_description
  • Calls control.launch from lrr_control
  • Calls teleop.launch from lrr_control

lrr_description

Contains a URDF (universal robot description format) description of the rover, generated from the rover's CAD using onshape-to-robot

Launch Files:

• description.launch
  • Runs xacro on the robot description and loads it into a robot_description param for use in other launch files

lrr_control

Launch Files:

• control.launch
  • Loads launch description using description.launch from lrr_description
  • Spawns hardware controllers using the controller_manager package
  • Runs an EKF for localization through the robot_localization package
  • Publishes robot state using the robot_state_publisher package

lrr_navigation

Launch Files:

• gmapping.launch
• amcl.launch

lrr_demos

WIP

lrr_viz

Launch Files:

• viz.launch
  • Starts foxglove bridge