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Maximus' source code http://kriegel.joffrey.free.fr/?cat=7
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Code used for the Eurobot cup 2011. The hardware architecture is described in the "Hardware_architecture.pdf". The communication between ROS and the robot is described in the "Current_global_architecture.pdf". Code inside the robot : - robot_side/maximus_162.c => for the ATmega162 uproc. Containing the motion control. ROS packages (for debug and robot's state vizualisation) : - computer_side/maximus_pose.cpp => used to communicate between the robot and ROS environment. It connects to the robot via the serial bluetooth port and publish : the pose, the path, and later the range sensors. It also subscribes to the joy topic. - computer_side/maximus_rviz.vcg => rviz config to vizualise the robot. - computer_side/maximus_joy.launch => script to launch all the packages (rviz, joy, maximus). - computer_side/mymap.yaml => map_server to print the map in rviz. - computer_side/eurobot2011map.png => map of the field.