Only released in EOL distros:
Package Summary
The nxt_controllers package provides a number of Python-based controllers for two-wheeled diff drive robots. The base controllers allows you to send velocity commands to a diff drive base, while the base odometry tracks the pose of a diff drive robot. The nxt_controllers package also contains a general purpose joint position controller that commnads a joint to a desired position by sending effort commands to the joint and reading the joint encoders.
- Author: Wim Meeussen
- License: BSD
- Repository: foote-ros-pkg
- Source: hg https://stack-nxt.foote-ros-pkg.googlecode.com/hg
Package Summary
The nxt_controllers package provides a number of Python-based controllers for two-wheeled diff drive robots. The base controllers allows you to send velocity commands to a diff drive base, while the base odometry tracks the pose of a diff drive robot. The nxt_controllers package also contains a general purpose joint position controller that commnads a joint to a desired position by sending effort commands to the joint and reading the joint encoders.
- Author: Wim Meeussen
- License: BSD
- Source: hg https://stack-nxt.foote-ros-pkg.googlecode.com/hg (branch: default)
Contents
ROS API description
nxt_base_controller
nxt_base_controller provides a controller for a basic differential drive vehicle (i.e. a car).Subscribed Topics
~joint_states (sensor_msgs/JointState)- The current effort, position, and velocity of the servo motors.
- The desired linear and angular x,y,z of the base.
Published Topics
~joint_command (nxt_msgs/JointCommand)- Effort commands to move the motors.
Parameters
~base_parameters/r_wheel_joint (string, default: None)- The name of the right wheel joint.
- The name of the left wheel joint.
- The radius of the Lego wheel, this assumes both wheels have the same radius.
- The distance from the center of each wheel divided by 2.
- The ratio of the output velocity to the commanded effort.
nxt_base_odometry
nxt_base_odometry provides odometry for a basic differential drive vehicle (i.e. a car).Subscribed Topics
~joint_states (sensor_msgs/JointState)- The current effort, position, and velocity of the servo motors.
Published Topics
~odom (nav_msgs/Odometry)- The change in position over time in the fixed frame.
Parameters
~base_parameters/r_wheel_joint (string, default: None)- The name of the right wheel joint.
- The name of the left wheel joint.
- The radius of the Lego wheel, this assumes both wheels have the same radius.
- The distance from the center of each wheel divided by 2.
