Based on ridgeback.

Common packages for HEROX AMR. These packages are relevant for simulation as well as running on the robot hardware.

OPEN SOURCE LICENSES

For OSS licenses used by dependencies, see LICENSES.md

Installation

First, clone the herox repository into a catkin workspace:

ros@ros-usb:~/catkin_ws/src$ git clone git@gitlab.com:kea-robotics/industry_projects/21_amr/herox.git

Install the required fork of ros_canopen according to the instructions there.

Build the workspace using catkin_make:

ros@ros-usb:~/catkin_ws/src$ cd .. && catkin_make

To use the packages, don't forget to source the workspace (using bash shell in this example):

ros@ros-usb:~$ source ~/catkin_ws/devel/setup.bash

Usage

The packages provide different launch files for common tasks and subsystems.

Control and Teleoperation

To start the low-level motor control software (CAN communication and mecanum controller), use the control.launch file of the herox_control package. Note, however, that this file is intended to be used by a higher-level launch file. The robot URDF needs to be published first.

To start the motor control software along with a teleop_twist_joy node for joystick teleoperation:

ros@ros-usb:~$ roslaunch herox_control teleop.launch

Configuration

TODO