t.korjakow
/
ft24_control
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity
This is a temporary repo for the ft24_control code
69 Commits 1 Branch 0 Tags 17 MiB
C++ 95.7%
Python 3.8%
CMake 0.5%
Go to file
wittenator d0b9c22eee Added old controller code 2023-12-02 19:46:12 +01:00
src Added old controller code 2023-12-02 19:46:12 +01:00
.gitignore update twist 2023-06-15 14:59:54 +02:00
.gitmodules Added proper submodule and removed own mux package 2023-07-12 17:30:40 +08:00
Dockerfile Big push 2023-12-02 19:41:01 +01:00
README.md Added old controller code 2023-12-02 19:46:12 +01:00
docker-compose.yml Big push 2023-12-02 19:41:01 +01:00

README.md

Temporary FT24 control repo

Robot Control

The robot control is implemented in the ft24_control package and can be launched with
ros2 launch ft24_control launch_robot.py.
This launch file brings up the ros2_control-based nodes that serve as the interface between the physical robot and the ROS2 software stack.

Remote Control

The launch file ros2 launch src/dcaitirobot/launch/remote_control_launch.py launches the nodes required to interface the PS3 controller and publish its commands as Twist messages in ROS.

Simulation Start

For the Gazebo simulation, run:

ros2 launch ft24_control launch_sim.py