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Common packages for the control and simulation of the RB1 BASE robot
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rb1_base_common
rb1_base_control
rb1_base_description
rb1_base_localization
rb1_base_navigation
rb1_base_pad
.gitignore
README.md

README.md

rb1_base_common

Common packages of the RB1 base: URDF description of the RB1 Base, platform messages and other files for simulation.

Packages

rb1_base_description

The urdf, meshes, and other elements needed in the description are contained here. This package includes the description of the RB1 Base mobile platforms. The package includes also some launch files to publish the robot state and to test the urdf files in rviz.

rb1_base_localization

Contains the configuration and launch files to use the robot localiztion packages along the real or simulated robot.

rb1_base_navigation

Contains the configuration and launch files to work with the ROS navigation stack along the real or simulated robot.

rb1_base_pad

This package contains the node that subscribes to /joy messages and publishes command messages for the robot platform including speed level control. The joystick output is feed to a mux (http://wiki.ros.org/twist_mux) so that the final command to the robot can be set by different components (move_base, etc.)

The node allows to load different types of joysticks (PS4, PS3, Logitech, Thrustmaster). New models can be easily added by creating new .yaml files.

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