Awesome
<a href="https://107-systems.org/"><img align="right" src="https://raw.githubusercontent.com/107-systems/.github/main/logo/107-systems.png" width="15%"></a>
:floppy_disk: t07_robot
ROS control code for the T07 robot.
How-to-build
Note: Don't forget to install the dependencies.
cd $COLCON_WS/src
git clone --recursive https://github.com/107-systems/t07_robot
cd $COLCON_WS
source /opt/ros/humble/setup.bash
colcon build --packages-select t07_robot
How-to-run
cd $COLCON_WS
. install/setup.bash
- T07W(heels) (2WD tricycle configuration)
ros2 launch t07_robot t07.py
- T07W(heels) (4WD configuration)
ros2 launch t07_robot t07_4wd.py
- T07T(racks) (Tracked configuration)
ros2 launch t07_robot t07_tracked.py
Interface Documentation
Published Topics
| Default name | Type |
|---|
Subscribed Topics
| Default name | Type | Description |
|---|---|---|
/motor/left/target | std_msgs/Float32 | Motor left set-point in m/s |
/motor/right/target | std_msgs/Float32 | Motor right set-point in m/s |
Parameters
| Name | Default | Description |
|---|---|---|
can_iface | can0 | Network name of CAN bus. |
can_node_id | 100 | Cyphal/CAN node id. |
motor_left_topic | motor/left/target | |
motor_left_topic_deadline_ms | 100 | |
motor_left_topic_liveliness_lease_duration | 1000 | |
motor_left_rpm_port_id | 600 | Cyphal port ID for CyphalRobotController/CAN motor left RPM messages. |
motor_right_topic | motor/right/target | |
motor_right_topic_deadline_ms | 100 | |
motor_right_topic_liveliness_lease_duration | 1000 | |
motor_right_rpm_port_id | 600 | Cyphal port ID for CyphalRobotController/CAN motor right RPM messages. |
wheel_left_diameter_mm | 130.0 | Diameter of the left wheel in in mm |
wheel_right_diameter_mm | 130.0 | Diameter of the right wheel in in mm |
Install dependencies
- Install
gsl-lite
git clone https://github.com/gsl-lite/gsl-lite && cd gsl-lite
mkdir build && cd build
cmake .. && make -j8
sudo make install
- Install
Catch2
git clone https://github.com/catchorg/Catch2 && cd Catch2
mkdir build && cd build
cmake .. && make -j8
sudo make install
- Install
fmt
git clone https://github.com/fmtlib/fmt && cd fmt
mkdir build && cd build
cmake -DFMT_TEST=OFF ..
make -j8
sudo make install