Common packages of the RB-Robout: URDF description of the RB-Robout, platform messages and other files for simulation.
This package contains the launch and configuration files to spawn the joint controllers with the ROS controller_manager. It allows to launch the joint controllers for the:
- RB-Robout (4 omidirectional wheels)
The RB-Robout simulation stack follows the gazebo_ros controller manager scheme described in http://gazebosim.org/tutorials
The urdf, meshes, and other elements needed in the description are contained here. This package includes the description of the RB-Robout mobile platform. The package includes also some launch files to publish the robot state and to test the urdf files in rviz.
This package contains launch files related to mapping and localization with the RB-Robout robot.
This package contains all the configuration and launch files needed to execute navigation tasks.
This package contains the node that subscribes to /joy messages and publishes command messages for the robot platform including speed level control. The joystick output is feed to a mux http://wiki.ros.org/twist_mux so that the final command to the robot can be set by different components (move_base, etc.)
The node allows to load different types of joysticks (PS4, PS3, Logitech, Thrustmaster). New models can be easily added by creating new .yaml files. If modbus_io node is available, the digital outputs (ligths, axes, etc.) can also be controlled with the pad. If ptz camera is available, the pan-tilt-zoom can also be commanded with the pad.