{"id":21217319,"url":"https://github.com/toshikinakamura0412/base_controller_ros","last_synced_at":"2026-05-12T04:33:21.730Z","repository":{"id":239691756,"uuid":"798651769","full_name":"ToshikiNakamura0412/base_controller_ros","owner":"ToshikiNakamura0412","description":"ROS implementation of base controller for mobile robot","archived":false,"fork":false,"pushed_at":"2024-05-18T16:56:16.000Z","size":385,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"master","last_synced_at":"2025-01-21T16:45:42.763Z","etag":null,"topics":["controller","cpp","joy","joystick-control","mit-license","robotics","ros","ros-noetic"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ToshikiNakamura0412.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","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":"2024-05-10T07:52:50.000Z","updated_at":"2024-05-18T16:53:15.000Z","dependencies_parsed_at":"2024-11-20T21:57:58.415Z","dependency_job_id":"fe1fa452-2bb8-49fc-aabb-cf15d1724c26","html_url":"https://github.com/ToshikiNakamura0412/base_controller_ros","commit_stats":null,"previous_names":["toshikinakamura0412/base_controller_ros"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ToshikiNakamura0412%2Fbase_controller_ros","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ToshikiNakamura0412%2Fbase_controller_ros/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ToshikiNakamura0412%2Fbase_controller_ros/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ToshikiNakamura0412%2Fbase_controller_ros/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ToshikiNakamura0412","download_url":"https://codeload.github.com/ToshikiNakamura0412/base_controller_ros/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":243667967,"owners_count":20328036,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","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":["controller","cpp","joy","joystick-control","mit-license","robotics","ros","ros-noetic"],"created_at":"2024-11-20T21:57:48.284Z","updated_at":"2026-05-12T04:33:21.685Z","avatar_url":"https://github.com/ToshikiNakamura0412.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# base_controller_ros\n\n![Build Status](https://github.com/ToshikiNakamura0412/base_controller_ros/workflows/build/badge.svg)\n[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)\n\nROS implementation of base controller for mobile robot\n\n\u003cp align=\"center\"\u003e\n  \u003cimg src=\"images/base_controller.png\" height=\"320px\"/\u003e\n\u003c/p\u003e\n\n## Environment\n- Ubuntu 20.04\n- ROS Noetic\n\n## Install and Build\n```\n# clone repository\ncd /path/to/your/catkin_ws/src\ngit clone https://github.com/ToshikiNakamura0412/base_controller_ros.git\n\n# build\ncd /path/to/your/catkin_ws\nrosdep install -riy --from-paths src --rosdistro noetic     # Install dependencies\ncatkin build base_controller_ros -DCMAKE_BUILD_TYPE=Release # Release build is recommended\n```\n\n## How to use\n```\nroslaunch base_controller_ros base_controller.launch\n```\n\n## Running the demo\n```\n# clone repository\ncd /path/to/your/catkin_ws/src\ngit clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git\ngit clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git\ngit clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git\n\n# build\ncd /path/to/your/catkin_ws\nrosdep install -riy --from-paths src --rosdistro noetic\ncatkin build -DCMAKE_BUILD_TYPE=Release\n\n# run demo\nexport TURTLEBOT3_MODEL=burger\nroslaunch base_controller_ros test.launch\n```\n\n## Node I/O\n![Node I/O](images/node_io.png)\n\n## Nodes\n### base_controller\n#### Published Topics\n- /cmd_vel (`geometry_msgs/Twist`)\n  - The velocity command to robot\n\n#### Subscribed Topics\n- /joy (`sensor_msgs/Joy`)\n  - The joystick input\n- /planner/cmd_vel (`geometry_msgs/Twist`)\n  - The velocity command from planner\n\n#### Parameters\n- ~\\\u003cname\u003e/\u003cb\u003ehz\u003c/b\u003e (int, default: `20` [Hz]):\u003cbr\u003e\n  The rate of main loop\n- ~\\\u003cname\u003e/\u003cb\u003emax_linear_vel\u003c/b\u003e (double, default: `0.25` [m/s]):\u003cbr\u003e\n  The maximum linear velocity\n- ~\\\u003cname\u003e/\u003cb\u003emax_angular_vel\u003c/b\u003e (double, default: `1.0` [rad/s]):\u003cbr\u003e\n  The maximum angular velocity\n\n## References\n- https://github.com/amslabtech/motion_decision\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ftoshikinakamura0412%2Fbase_controller_ros","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Ftoshikinakamura0412%2Fbase_controller_ros","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ftoshikinakamura0412%2Fbase_controller_ros/lists"}