ellensohn/cps_rmp220_support
1
0
Fork 0
mirror of https://github.com/bjoernellens1/cps_rmp220_support.git synced 2025-05-16 09:48:05 +00:00
Code Issues Packages Projects Releases Wiki Activity

Compare commits

base: ellensohn:243cd85a152231b9bfa08f47291df582fdf08a41
Branches Tags
ellensohn:main
ellensohn:noetic
..
compare: ellensohn:5499af6c4e17f38289c3207802c174e93adbe00f
Branches Tags
ellensohn:main
ellensohn:noetic

No commits in common. "243cd85a152231b9bfa08f47291df582fdf08a41" and "5499af6c4e17f38289c3207802c174e93adbe00f" have entirely different histories.
243cd85a15 ... 5499af6c4e

7 changed files with 10 additions and 62 deletions
Show Stats Expand all files Collapse all files

8
config/twist_mux_topics.yaml
View File

@ -10,19 +10,19 @@ topics:
name : navigation
topic : nav_vel
timeout : 0.5
priority: 110
priority: 100
-
name : joystick
topic : joy_vel
timeout : 0.5
priority: 100
priority: 90
-
name : keyboard
topic : key_vel
timeout : 0.5
priority: 10
priority: 90
-
name : tablet
topic : tab_vel
timeout : 0.5
priority: 10
priority: 90

10
launch/joystick.yaml
View File

@ -1,10 +0,0 @@
priority: True
turbo:
linear_forward_min : 0.5
linear_forward_max : 1.0
linear_backward_min : 0.25
linear_backward_max : 0.5
angular_min : 0.7
angular_max : 1.2
steps : 4

7
launch/linus_amcl.launch
View File

@ -48,12 +48,5 @@
<param name="global_frame_id" value="map"/>
<param name="tf_broadcast" value="true" /> -->
<!-- scan topic -->
<!-- <remap from="scan" to="scan_filtered"/> -->
<!-- remap cmd_vel -->
<remap from="cmd_vel" to="nav_vel"/>
<!-- remap odom -->
<remap from="odom" to="/robot_pose_ekf/odom_combined"/>
</node>
</launch>

30
launch/move_base_core.launch
View File

@ -1,30 +0,0 @@
<launch>
<param name="use_sim_time" value="false" />
<!--<include file="$(find segwayrmp)/launch/segwayrmp_configuration.launch" />-->
<!-- Run the map server -->
<!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find segwayrmp)/maps/mymap.pgm my_map_resolution"/> -->
<!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find cps_rmp220_support)/maps/map.yaml"/> -->
<!--move base-->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find segwayrmp)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find segwayrmp)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find segwayrmp)/param/local_costmap_params.yaml" command="load" />
<rosparam file="$(find segwayrmp)/param/global_costmap_params.yaml" command="load" />
<rosparam file="$(find segwayrmp)/param/base_local_planner_params.yaml" command="load" />
<!-- scan topic -->
<remap from="scan" to="scan_filtered"/>
<!-- remap cmd_vel -->
<remap from="cmd_vel" to="nav_vel"/>
<!-- remap odom -->
<remap from="odom" to="/robot_pose_ekf/odom_combined"/>
</node>
<!-- TF -->
<!-- <node pkg="tf" type="static_transform_publisher" name="base_to_laser" args="0.10 0.0 0.12 3.14 0.0 0.0 base_link laser 100"/>
static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms -->
<!-- <node pkg="tf" type="static_transform_publisher" name="base_footprint_to_base_link" args="0 0 0.5 0 0 0 base_link base_footprint 50" /> -->
</launch>

3
launch/teleop.launch
View File

@ -15,7 +15,6 @@
<param name="scale_linear" value="0.5" /> <!-- Scale factor for linear velocity -->
<!-- Remap /cmd_vel to /joy_vel -->
<!-- <remap from="/cmd_vel" to="/joy_vel" /> -->
<remap from="/cmd_vel" to="/input_joy/cmd_vel" />
<remap from="/cmd_vel" to="/joy_vel" />
</node>
</launch>

4
launch/twist_mux.launch
View File

@ -5,9 +5,9 @@
<arg name="cmd_vel_out" default="twist_mux/cmd_vel"/>
<arg name="config_locks" default="$(find twist_mux)/config/twist_mux_locks.yaml"/>
<arg name="config_topics" default="$(find cps_rmp220_support)/config/twist_mux_topics.yaml"/>
<arg name="config_topics" default="$(find cps_rmp220_Support)/config/twist_mux_topics.yaml"/>
<arg name="config_joy" default="$(find cps_rmp220_support)/config/joystick.yaml"/>
<arg name="config_joy" default="$(find twist_mux)/config/joystick.yaml"/>
<node pkg="twist_mux" type="twist_mux" name="twist_mux" output="screen">
<remap from="cmd_vel_out" to="$(arg cmd_vel_out)"/>

10
nodes/encoder_odom_publisher.py
View File

@ -1,9 +1,5 @@
#!/usr/bin/env python
"""
Node for pusblishing segway rmp 220 lite Odometry calculated from encoder ticks_fb
"""
import rospy
import tf
from nav_msgs.msg import Odometry
@ -16,9 +12,9 @@ class EncoderOdometry:
rospy.init_node("encoder_odom_publisher")
# Robot parameters (update these according to your robot)
self.wheel_radius = 0.125 #0.202 # Wheel radius in meters
self.wheel_base = 0.415 #0.392 # Distance between wheels (m)
self.ticks_per_revolution = 4096 # Encoder ticks per wheel revolution --> checked fine
self.wheel_radius = 0.202 # Wheel radius in meters
self.wheel_base = 0.392 # Distance between wheels (m)
self.ticks_per_revolution = 4096 # Encoder ticks per wheel revolution
# State variables
self.x = 0.0