💾 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