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https://github.com/toshikinakamura0412/base_controller_ros

ROS implementation of base controller for mobile robot
https://github.com/toshikinakamura0412/base_controller_ros

controller cpp joy joystick-control mit-license robotics ros ros-noetic

Last synced: about 15 hours ago
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ROS implementation of base controller for mobile robot

Host: GitHub
URL: https://github.com/toshikinakamura0412/base_controller_ros
Owner: ToshikiNakamura0412
License: mit
Created: 2024-05-10T07:52:50.000Z (9 months ago)
Default Branch: master
Last Pushed: 2024-05-18T16:56:16.000Z (8 months ago)
Last Synced: 2024-11-20T21:58:45.239Z (2 months ago)
Topics: controller, cpp, joy, joystick-control, mit-license, robotics, ros, ros-noetic
Language: C++
Homepage:
Size: 376 KB
Stars: 0
Watchers: 1
Forks: 0
Open Issues: 0
Metadata Files:
- Readme: README.md
- License: LICENSE

Awesome Lists containing this project

README

# base_controller_ros

![Build Status](https://github.com/ToshikiNakamura0412/base_controller_ros/workflows/build/badge.svg)
[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)

ROS implementation of base controller for mobile robot

## Environment
- Ubuntu 20.04
- ROS Noetic

## Install and Build
```
# clone repository
cd /path/to/your/catkin_ws/src
git clone https://github.com/ToshikiNakamura0412/base_controller_ros.git

# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic # Install dependencies
catkin build base_controller_ros -DCMAKE_BUILD_TYPE=Release # Release build is recommended
```

## How to use
```
roslaunch base_controller_ros base_controller.launch
```

## Running the demo
```
# clone repository
cd /path/to/your/catkin_ws/src
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic
catkin build -DCMAKE_BUILD_TYPE=Release

# run demo
export TURTLEBOT3_MODEL=burger
roslaunch base_controller_ros test.launch
```

## Node I/O
![Node I/O](images/node_io.png)

## Nodes
### base_controller
#### Published Topics
- /cmd_vel (`geometry_msgs/Twist`)
- The velocity command to robot

#### Subscribed Topics
- /joy (`sensor_msgs/Joy`)
- The joystick input
- /planner/cmd_vel (`geometry_msgs/Twist`)
- The velocity command from planner

#### Parameters
- ~\/hz (int, default: `20` [Hz]):

The rate of main loop
- ~\/max_linear_vel (double, default: `0.25` [m/s]):

The maximum linear velocity
- ~\/max_angular_vel (double, default: `1.0` [rad/s]):

The maximum angular velocity

## References
- https://github.com/amslabtech/motion_decision