ROS Integration

Techbical Overview

TODO

Requirements

Each wheel velocity and steer angle is publish in ros messeges of type mobie_robots_kinematic/VelocityWheel and calcuation are done base on input linear and angular velocity passed in ros messeges of type geometry_msgs/Twist.

Odometry topic and transform are publish only when information about each wheel welocity are avaliable in ros topic of type mobie_robots_kinematic/VelocityWheel

By defaul this package:

• subscribe to:

  • /robot_name/cmd_vel

    • geometry_msgs/Twist

  • /robot_name/wheel_feedback

    • mobie_robots_kinematic/VelocityWheel

• publish

  • /robot_name/velocity

    • mobie_robots_kinematic/VelocityWheel

  • /robot_name/odom

    • nav_msgs/Odometry

Each of names can be customized in configuration file.

Custom messege

This package provide customized messeges that helps organize data in ros network

• mobie_robots_kinematic/VelocityWheel

  • mobie_robots_kinematic/motor[] values

• mobie_robots_kinematic/VelocityWheel

  • uint32 ID

  • float32 LinVelocity

  • float32 AngVelocity

  • float32 steerAngle