hero_chassis_controller

Overview

This is a controller package for the DynamicX final assignment. All the requirements have completed. See the Details and the PPT in detail.

Keywords: ROS, ros_control, PID, Mecanum wheel, Odometry, TF.

License

The source code is released under a BSD 3-Clause license.

Author: Zhipeng Zhong
Affiliation: GDUT
Maintainer: Zhipeng Zhong, [email protected]

The hero_chassis_controller package has been tested under ROS Indigo, Melodic, and Noetic on respectively Ubuntu 14.04, 18.04, and 20.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Building from Source

Dependencies

• Robot Operating System (ROS) (middleware for robotics),

• roscpp

• control_toolbox

• dynamic_reconfigure

• hardware_interface

• pluginlib

• std_msgs

• tf

• teleop_twist_keyboard

  and so on......

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/HydrogenZp/hero_chassis_controller.git 
catkin build

Functions

This package includes all the functions that the requirement needed and I added two feature functions (See the PPT file).

Usage

Control the chassis by using:

roslaunch hero_chassis_controller keyboard_twist.launch

Let the chassis move randomly by using:

roslaunch hero_chassis_controller random_move.launch

Config files

Config file folder /cfg

• PID.cfg
  Configuration file for PID parameters.

Config file folder /config

• hero_chassis_controller.yaml
  General configuration file for the controller.

Nodes

Subscribed Topics

• /cmd_vel
  The required velocity messages.

Published Topics

• /odom
  The odometry.

• /power_topic
  The real-time output power.