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ROS related code

Catkin Packages

There are 4 catkin packages contained in this repo. Each of these packages performs a specific purpose in the ROS structure, which are covered below

  • osr_control: core code that talks to motor drivers and listens to commands
  • osr_interfaces: custom message definitions
  • osr_bringup: configuration and launch files for starting the rover
  • led_screen: code to communicate to the Arduino Uno to run the LED screen

Please refer to the docstrings wihin each file to gain understanding of the internals as that is the most up-to-date and complete source of information.

osr_control

  • roboclaw.py: copy of the roboclaw python library, API to the roboclaw controllers. ROS agnostic
  • roboclaw_wrapper.py: ROS node that wraps around and abstracts the roboclaw library. Takes in commands and reports state of each motor
  • servo_control.py: ROS node that takes commands from the Rover node to send the corner servo motors to an angle and relays those to the PCA9685 chip
  • rover.py: ROS node that controls the rover, taking in high-level commands and calculating motor commands which are sent to roboclaw_wrapper.py

drive motor velocity calculation diagram Note that a positive angular twist corresponds to a positive turning radius and turning left while driving forward.

osr_interfaces

Contains custom message definitions used for the rover. Please refer to the message definitions for details and units.

osr_bringup

The osr_bringup package contains the launch file necessary to start all the ROS nodes, as well as the operating parameters for the robot.

led_screen

ROS nodes for interfacing with the screen.