{"id":16654826,"url":"https://github.com/pranjaldhole/direct-base-controller","last_synced_at":"2026-04-18T11:05:04.601Z","repository":{"id":116559484,"uuid":"123954216","full_name":"pranjaldhole/direct-base-controller","owner":"pranjaldhole","description":"Code base that uses merged nodes under direct base controller node for operating the youbot. This project was undertaken as part of a requisite for the lab Software Development Project.","archived":false,"fork":false,"pushed_at":"2020-01-11T15:44:52.000Z","size":2254,"stargazers_count":1,"open_issues_count":0,"forks_count":0,"subscribers_count":0,"default_branch":"master","last_synced_at":"2025-12-29T08:19:40.869Z","etag":null,"topics":["base-controller","nodes-communication","python","python3","robotics","ros","ros-indigo","youbot"],"latest_commit_sha":null,"homepage":"https://pranjaldhole.github.io/direct_base_controller/","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/pranjaldhole.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2018-03-05T17:28:24.000Z","updated_at":"2023-07-25T08:08:42.000Z","dependencies_parsed_at":"2023-07-10T23:46:19.940Z","dependency_job_id":null,"html_url":"https://github.com/pranjaldhole/direct-base-controller","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/pranjaldhole/direct-base-controller","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/pranjaldhole%2Fdirect-base-controller","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/pranjaldhole%2Fdirect-base-controller/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/pranjaldhole%2Fdirect-base-controller/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/pranjaldhole%2Fdirect-base-controller/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/pranjaldhole","download_url":"https://codeload.github.com/pranjaldhole/direct-base-controller/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/pranjaldhole%2Fdirect-base-controller/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":31966218,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-04-18T00:39:45.007Z","status":"online","status_checked_at":"2026-04-18T02:00:07.018Z","response_time":103,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["base-controller","nodes-communication","python","python3","robotics","ros","ros-indigo","youbot"],"created_at":"2024-10-12T09:51:06.801Z","updated_at":"2026-04-18T11:05:04.570Z","avatar_url":"https://github.com/pranjaldhole.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Direct Base Controller (DBC)\n## Software Development Project\n\n### Direct Base Controller: Merged Nodes\n\n1. Clone the repo in your `catkin_workspace/src`.\n2.  Disable following packages\n\t* mir_direct_base_controller\n\t* mcr_direct_base_controller\n\t* mcr_common_converters\n\t* mcr_manipulation_measurers\n\t* mcr_twist_controller\n\t* mcr_twist_limiter\n\n\tUse following command to disable a package\n\t```\n\troscd package_name\n\ttouch CATKIN_IGNORE\n\t```\n3.  Delete old build files before new build. Go to the *ros*  directory and execute.\n\t```\n\tcatkin build\n\tsource ~/.bashrc\n\t```\n4.  Use *group3_direct_base_controller* package to launch.\n\t```\n\troslaunch group3_direct_base_controller direct_base_controller.launch\n\troslaunch group3_direct_base_controller pose_mock_up_gui.launch\n\troslaunch group3_direct_base_controller event_gui.launch\n\t```\n\n#### To Do: Merge Nodes\n\n+ [x] mcr_direct_base_controller:direct_base_controller_coordinator_node\n+ [x] mcr_common_converters:transform_to_pose_converter_node\n+ [x] mcr_manipulation_measurers:component_wise_pose_error_calculator_node\n+ [x] mcr_geometric_relation_monitors:component_wise_pose_error_monitor_node\n+ [x] mcr_twist_controller:twist_controller_node\n+ [x] mcr_twist_limiter:twist_limiter_node\n+ [x] mcr_twist_synchronizer:twist_synchronizer_node\n\n#### Nodes communication\nTo check how nodes communicate with each other, run the simulation and run `rqt_graph`.\nThe GUI will show you a graph of how nodes talk to each other.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fpranjaldhole%2Fdirect-base-controller","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fpranjaldhole%2Fdirect-base-controller","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fpranjaldhole%2Fdirect-base-controller/lists"}