ROS control code for the T07 robot.
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_robotcd $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| Default name | Type |
|---|
| 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 |
| 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
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
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