About | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange

Only released in EOL distros:   indigo

• New Maintainer : Inovasyon Muhendislik <[email protected]>

Nodes

evarobot_controller

evarobot_controller is basic PID controller to drive the Evarobot with referance velocities. evarobot_controller takes reference and measured velocities and outputs calculated velocities which will be applied to the Evarobot.

Subscribed Topics

cmd_vel (geometry_msgs/Twist)

• Reference velocities of linear and angular.

wheel_vel (geometry_msgs/PointStamped)

• Measured velocities of left and right wheels.

Published Topics

cntr_wheel_vel (geometry_msgs/Twist)

• Calculated velocities by PID controller.

Parameters

~desiredTopic (string, default: cmd_vel)

• Topic name of reference velocities.

~measuredTopic (string, default: wheel_vel)

• Topic name of measured velocities.

~controllerTopic (string, default: cntr_wheel_vel)

• Topic name of velocities which are outputs of PID controller.

~alwaysOn (bool, default: true)

• if false, it doesn't publish data until a node subscribes.

~wheelSeparation (double, default: 0.32)

• Distance between two wheels in meter.

~Frequency (double, default: 10.0)

• Maximum frequency of node loop.

~integralConstLeft (double, default: 0.5)

• Integral constant of left wheel controller.

~derivativeConstLeft (double, default: 0.05)

• Derivative constant of left wheel controller.

~proportionalConstLeft (double, default: 0.3)

• Proportional constant of left wheel controller.

~integralConstRight (double, default: 0.5)

• Integral constant of right wheel controller.

~derivativeConstRight (double, default: 0.05)

• Derivative constant of right wheel controller.

~proportionalConstRight (double, default: 0.3)

• Proportional constant of right wheel controller.