mybot_control

There are ros_packages of mybot_control, include the following:

1. mecanumbot controller
2. diffbot hardware driver
3. mecanumbot hardware driver
4. diffbot and mecanumbot description
5. launch file
6. odom test scripts

Those packages depend on ros-control and ros-controllers.

Schema

.
├── README.md
├── mybot_control      #meta package
├── mybot_controllers  #custom controllers
├── mybot_description  #robot description
├── mybot_hw           #robot hardware
├── mybot_launch       #launch file
└── mybot_test         #test scripts

Input & Output

I use rosserial to connect the hardware and embedded, so i just need to manager input and output topic
Input topic is the encoder state
Output topic is the motor speed(command)

You can edit it to your own rules in mybot_hw

input(topic)	datetype	unit
wheel_state_encoder	std_msgs/Float32MultiArray	rad

output(topic)	datetype	unit
wheel_cmd_velocity	std_msgs/Float32MultiArray	rad/s

USAGE

• compile

#cd your_ws/src
#git clone this repository to your own workspace
catkin_make

• run diffbot with gazebo(use gazebo_ros_control)

source devel/setup.bash
roslaunch mybot_launch diffbot_gazebo_sim.launch

• run diffbot with real hardware

source devel/setup.bash
roslaunch mybot_launch diffbot_real.launch

note: diffbot driver uses the diffbot_controller in ros-controllers.

• run mecanumbot with real hardware

source devel/setup.bash
roslaunch mybot_launch diffbot_real.launch