sentry_chassis_controller

Sentry chassis controller package for ROS1 Noetic and Gazebo.

Overview

This package keeps a single controller plugin:

• sentry_chassis_controller/SentryChassisController

It is built on top of rm_chassis_controllers::ChassisBase and keeps only the Sentry-specific controller logic.

The old kinematics, runtime parameter tuning, and PID tuning scripts are no longer part of the package.

Installation

Build the package in a catkin workspace:

source /opt/ros/noetic/setup.bash
catkin build sentry_chassis_controller

Dependencies

Third-party base

• rm_chassis_controllers::ChassisBase

Catkin dependencies

• roscpp
• controller_interface
• hardware_interface
• pluginlib
• rm_chassis_controllers
• effort_controllers
• angles
• eigen

Configuration

The controller namespace is /sentry_chassis_controller.

Base parameters

Provided by ChassisBase:

• publish_rate
• enable_odom_tf
• publish_odom_tf
• timeout
• wheel_radius
• max_odom_vel
• twist_covariance_diagonal
• power
• pid_follow

Package parameters

Custom Sentry parameters:

• wheel_rolling_signs
• wheel_direction_signs/vx
• wheel_direction_signs/vy
• wheel_direction_signs/wz
• modules

Each module requires:

• position
• pivot/joint
• pivot/offset
• pivot/pid
• wheel/joint
• wheel/radius
• wheel/pid

Removed parameters:

• steer_zero_offsets
• command_compensation_matrix
• enable_dynamic_reconfigure

Usage

Controller-only launch:

roslaunch sentry_chassis_controller sentry_chassis_controller.launch

Gazebo launch:

roslaunch sentry_chassis_controller sentry_sim.launch

Headless Gazebo:

roslaunch sentry_chassis_controller sentry_sim.launch gui:=false with_foxglove:=false

Teleop:

rosrun sentry_chassis_controller teleop_keyboard.sh

Scripts

• evaluate_teleop_behavior.py
• evaluate_teleop_keys.py
• auto_calibrate_signs.py
• auto_calibrate_sign_chain.py
• publish_default_chassis_cmd.py

Container wrappers:

• ./scripts/_run_teleop_eval_inside.sh
• ./scripts/_run_auto_calibrate_inside.sh
• ./scripts/_run_auto_calibrate_sign_chain_inside.sh