hero_chassis_controller

Overview

This is cqc's last homework of DynamicX.

Keywords: ros_control

License

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

Author : cqc
Affiliationg : Individual
Maintainer:cqc,205455603@qq.com

Hero_chassis_controller package has been test under Ros noetic on respectively 20.04.It is just only my homework.

Installation

Buildding from Source

• Robot Operating System(ros)
• rm_description
• controller_interface
• forward_command_controller
• hardware_interface
• pluginlib
• teleop_twist_keyboard
• control_toolbox
• dynamic_reconfigure

Building

To build from source,using

cd catkin_workspace/src
git clone https://github.com/xuncheng-001/hero_chassis_controller.git
cd ../
rosdep install --from-paths . --ignore-src
catkin build

Usage

Run the simulation and controller with:

roslaunch hero_chassis_controller hero_chassis_controller.launch

Config files

Config file config

• controllers.yaml Params of hero_chassis_controller , joint_state_controller and pid parameter.

Launch files

• hero_chassis_controller.launch: Hero chassis simulation and hero_chassis_controller and teleop_twist_keyboard.