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@ -10,19 +10,19 @@ topics:
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name : navigation
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topic : nav_vel
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timeout : 0.5
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priority: 100
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priority: 110
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-
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name : joystick
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topic : joy_vel
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timeout : 0.5
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priority: 90
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priority: 100
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-
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name : keyboard
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topic : key_vel
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timeout : 0.5
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priority: 90
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priority: 10
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-
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name : tablet
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topic : tab_vel
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timeout : 0.5
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priority: 90
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priority: 10
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10
launch/joystick.yaml
Normal file
10
launch/joystick.yaml
Normal file
@ -0,0 +1,10 @@
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priority: True
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turbo:
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linear_forward_min : 0.5
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linear_forward_max : 1.0
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linear_backward_min : 0.25
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linear_backward_max : 0.5
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angular_min : 0.7
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angular_max : 1.2
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steps : 4
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@ -48,5 +48,12 @@
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<param name="global_frame_id" value="map"/>
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<param name="tf_broadcast" value="true" /> -->
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<!-- scan topic -->
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<!-- <remap from="scan" to="scan_filtered"/> -->
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<!-- remap cmd_vel -->
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<remap from="cmd_vel" to="nav_vel"/>
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<!-- remap odom -->
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<remap from="odom" to="/robot_pose_ekf/odom_combined"/>
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</node>
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</launch>
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30
launch/move_base_core.launch
Normal file
30
launch/move_base_core.launch
Normal file
@ -0,0 +1,30 @@
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<launch>
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<param name="use_sim_time" value="false" />
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<!--<include file="$(find segwayrmp)/launch/segwayrmp_configuration.launch" />-->
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<!-- Run the map server -->
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<!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find segwayrmp)/maps/mymap.pgm my_map_resolution"/> -->
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<!-- <node name="map_server" pkg="map_server" type="map_server" args="$(find cps_rmp220_support)/maps/map.yaml"/> -->
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<!--move base-->
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<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
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<rosparam file="$(find segwayrmp)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
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<rosparam file="$(find segwayrmp)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
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<rosparam file="$(find segwayrmp)/param/local_costmap_params.yaml" command="load" />
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<rosparam file="$(find segwayrmp)/param/global_costmap_params.yaml" command="load" />
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<rosparam file="$(find segwayrmp)/param/base_local_planner_params.yaml" command="load" />
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<!-- scan topic -->
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<remap from="scan" to="scan_filtered"/>
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<!-- remap cmd_vel -->
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<remap from="cmd_vel" to="nav_vel"/>
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<!-- remap odom -->
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<remap from="odom" to="/robot_pose_ekf/odom_combined"/>
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</node>
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<!-- TF -->
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<!-- <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"/>
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static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms -->
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<!-- <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" /> -->
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</launch>
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@ -15,6 +15,7 @@
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<param name="scale_linear" value="0.5" /> <!-- Scale factor for linear velocity -->
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<!-- Remap /cmd_vel to /joy_vel -->
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<remap from="/cmd_vel" to="/joy_vel" />
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<!-- <remap from="/cmd_vel" to="/joy_vel" /> -->
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<remap from="/cmd_vel" to="/input_joy/cmd_vel" />
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</node>
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</launch>
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@ -5,9 +5,9 @@
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<arg name="cmd_vel_out" default="twist_mux/cmd_vel"/>
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<arg name="config_locks" default="$(find twist_mux)/config/twist_mux_locks.yaml"/>
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<arg name="config_topics" default="$(find cps_rmp220_Support)/config/twist_mux_topics.yaml"/>
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<arg name="config_topics" default="$(find cps_rmp220_support)/config/twist_mux_topics.yaml"/>
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<arg name="config_joy" default="$(find twist_mux)/config/joystick.yaml"/>
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<arg name="config_joy" default="$(find cps_rmp220_support)/config/joystick.yaml"/>
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<node pkg="twist_mux" type="twist_mux" name="twist_mux" output="screen">
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<remap from="cmd_vel_out" to="$(arg cmd_vel_out)"/>
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@ -1,5 +1,9 @@
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#!/usr/bin/env python
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"""
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Node for pusblishing segway rmp 220 lite Odometry calculated from encoder ticks_fb
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"""
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import rospy
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import tf
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from nav_msgs.msg import Odometry
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@ -12,9 +16,9 @@ class EncoderOdometry:
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rospy.init_node("encoder_odom_publisher")
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# Robot parameters (update these according to your robot)
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self.wheel_radius = 0.202 # Wheel radius in meters
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self.wheel_base = 0.392 # Distance between wheels (m)
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self.ticks_per_revolution = 4096 # Encoder ticks per wheel revolution
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self.wheel_radius = 0.125 #0.202 # Wheel radius in meters
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self.wheel_base = 0.415 #0.392 # Distance between wheels (m)
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self.ticks_per_revolution = 4096 # Encoder ticks per wheel revolution --> checked fine
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# State variables
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self.x = 0.0
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