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ROS Integration for our ommidirectional robots
C++ CMake
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omni_bringup
omni_controllers
omni_description
omni_driver
omni_ros
.gitignore
README.md

README.md

omni_ros

ROS Integration for our Youbot + arm robots.

Packages

omni_bringup

Launch and configuration files to start the robot in its different versions. Currently, the three main ones are

  • omnigrasper.launch
    • arguments
      • use_base (bool): enable the Youbot
      • use_arm (bool): enable the arm
      • use_mocap (bool): launch the node for motion capture integration
      • arm_control_mode (string) either velocity, position or safevel
    • what it does
      • load URDF description the TF tree
      • start a control node for the arm (dynamixel hardware interface)
      • start a control node for the YouBot mobile base (youbot driver)
  • omni_mocap.launch
    • starts the ROS node to receive motion capture data on Omnigrasper
  • velocity_teleop.launch
    • use a joypad to command the arm, assuming it is in safevel mode

omni_controllers

Controllers specifically built for this robot, for instance the omni_controllers/OmnigrasperSpeedSafeController that commande the arm in velocity, ensuring that it never hits the floor or the mobile base.

omni_description

Has the URDFs of the robot in its different configurations.

omni_driver

Some C++ glu code to command the arm.

Documentation/Dependencies

launch/node required ros packages other requirements
omni_mocap mocap_optitrack  

Work stalled

Authors

  • Maintainer: Dorian Goepp
  • Authors: Federico Allocati, Dorian Goepp

License

CeCILL

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