[Documentation] [TitleIndex] [WordIndex

Only released in EOL distros:  

nxt: nxt_controllers | nxt_description | nxt_lxf2urdf | nxt_msgs | nxt_python | nxt_ros | nxt_rviz_plugin

Package Summary

The nxt_controllers package provides a number of Python-based controllers for two-wheeled diff drive robots. The base controllers allows you to send velocity commands to a diff drive base, while the base odometry tracks the pose of a diff drive robot. The nxt_controllers package also contains a general purpose joint position controller that commnads a joint to a desired position by sending effort commands to the joint and reading the joint encoders.

nxt: nxt_controllers | nxt_description | nxt_lxf2urdf | nxt_msgs | nxt_python | nxt_ros | nxt_rviz_plugin

Package Summary

The nxt_controllers package provides a number of Python-based controllers for two-wheeled diff drive robots. The base controllers allows you to send velocity commands to a diff drive base, while the base odometry tracks the pose of a diff drive robot. The nxt_controllers package also contains a general purpose joint position controller that commnads a joint to a desired position by sending effort commands to the joint and reading the joint encoders.

ROS API description

nxt_base_controller

nxt_base_controller provides a controller for a basic differential drive vehicle (i.e. a car).

Subscribed Topics

~joint_states (sensor_msgs/JointState) ~cmd_vel (geometry/Twist)

Published Topics

~joint_command (nxt_msgs/JointCommand)

Parameters

~base_parameters/r_wheel_joint (string, default: None) ~base_parameters/l_wheel_joint (string, default: None) ~base_parameters/wheel_radius (double, default: 0.022) ~base_parameters/wheel_basis (double, default: 0.055) ~base_parameters/vel_to_eff (double, default: 0.55)

nxt_base_odometry

nxt_base_odometry provides odometry for a basic differential drive vehicle (i.e. a car).

Subscribed Topics

~joint_states (sensor_msgs/JointState)

Published Topics

~odom (nav_msgs/Odometry)

Parameters

~base_parameters/r_wheel_joint (string, default: None) ~base_parameters/l_wheel_joint (string, default: None) ~base_parameters/wheel_radius (double, default: 0.022) ~base_parameters/wheel_basis (double, default: 0.055)


2019-04-20 12:59