mobile_base_msgs

Author :
Version : 1.0
License : Apache 2.0
Maintainor : Lee menggu1234@naver.com
Bug / feature tracker : https://github.com/RO-BIT-Intelligence-Robot-Team/mobile_base_msgs/issues
Source : https://github.com/RO-BIT-Intelligence-Robot-Team/mobile_base_msgs.git (branch : master)

Description

ROS msg package for 4 Flippered Mobile Robot. Tested on ROS noetic.

Table of Contents

• Build & Usage
• msgs

Build & Usage

Build from source code

$ cd ~/${workspace_name}_ws/src
$ git clone https://github.com/RO-BIT-Intelligence-Robot-Team/mobile_base_msgs.git
$ cd ..
$ catkin_make

How to use

CMakeLists.txt

find_package(mobile_base_msgs)
target_link_libraries(${PROJECT_NAME}
    mobile_base_msgs 
)

package.xml

  <build_depend>mobile_base_msgs</build_depend>
  <run_depend>mobile_base_msgs</run_depend>

Source Code

#include <mobile_base_msgs/${msg_you_need}.h>

msgs

dynamixel_control

########################################
# Messages
########################################
# dynamixel control msgs.

float64 profile_acceleration  #rad/s^2
float64 profile_velocity      #rad/s
float64 goal_position         #rad

dynamixel_status

########################################
# Messages
########################################
# dynamixel_status msgs.

bool torque                 # on : 1 , off : 0
uint8 hardware_error_status # https://emanual.robotis.com/docs/kr/dxl/mx/mx-106-2/#shutdown63
bool moving                 # moving : 1 , stop : 0
bool in_position            # in position : 1 , out position : 0
float64 present_current     # A
float64 present_velocity    # rps
float64 present_position    # rad

flipper_control

########################################
# Messages
########################################
# Robot flipper control msgs.

float32 target_pos    #degree
float32 target_vel    #rpm
float32 target_acc    #rpm/s
bool    init_req

flipper_status

########################################
# Messages
########################################
# Robot flipper status msgs.

float32 present_pos   #deg
float32 present_vel   #rpm
float32 present_cur   #A
float32 present_temp  #C
int8    error_code
bool    init_done
bool    connect