https://github.com/pranjaldhole/direct-base-controller

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.
https://github.com/pranjaldhole/direct-base-controller

base-controller nodes-communication python python3 robotics ros ros-indigo youbot

Last synced: 24 days ago
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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.

• Host: GitHub
• URL: https://github.com/pranjaldhole/direct-base-controller
• Owner: pranjaldhole
• Created: 2018-03-05T17:28:24.000Z (over 6 years ago)
• Default Branch: master
• Last Pushed: 2020-01-11T15:44:52.000Z (almost 5 years ago)
• Last Synced: 2024-10-12T09:51:17.241Z (27 days ago)
• Topics: base-controller, nodes-communication, python, python3, robotics, ros, ros-indigo, youbot
• Language: Python
• Homepage: https://pranjaldhole.github.io/direct_base_controller/
• Size: 2.15 MB
• Stars: 1
• Watchers: 0
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# Direct Base Controller (DBC)

## Software Development Project

### Direct Base Controller: Merged Nodes

1. Clone the repo in your `catkin_workspace/src`.

2.  Disable following packages

	* mir_direct_base_controller

	* mcr_direct_base_controller

	* mcr_common_converters

	* mcr_manipulation_measurers

	* mcr_twist_controller

	* mcr_twist_limiter

	Use following command to disable a package

	```

	roscd package_name

	touch CATKIN_IGNORE

	```

3.  Delete old build files before new build. Go to the *ros*  directory and execute.

	```

	catkin build

	source ~/.bashrc

	```

4.  Use *group3_direct_base_controller* package to launch.

	```

	roslaunch group3_direct_base_controller direct_base_controller.launch

	roslaunch group3_direct_base_controller pose_mock_up_gui.launch

	roslaunch group3_direct_base_controller event_gui.launch

	```

#### To Do: Merge Nodes

+ [x] mcr_direct_base_controller:direct_base_controller_coordinator_node

+ [x] mcr_common_converters:transform_to_pose_converter_node

+ [x] mcr_manipulation_measurers:component_wise_pose_error_calculator_node

+ [x] mcr_geometric_relation_monitors:component_wise_pose_error_monitor_node

+ [x] mcr_twist_controller:twist_controller_node

+ [x] mcr_twist_limiter:twist_limiter_node

+ [x] mcr_twist_synchronizer:twist_synchronizer_node

#### Nodes communication

To check how nodes communicate with each other, run the simulation and run `rqt_graph`.

The GUI will show you a graph of how nodes talk to each other.