Hero_chassis_controller

Written by ZhuolinLiu(刘焯林)

RM is not your entire life.

Overview

This is a controller for a hero_chassis_robot from this website:

https://github.com/YoujianWu/rm_description_for_task.

And this is my assignment for final-task.

This controller use PID to control the motion of this robot.

The hero_chassis_controller package has been tested under ROS Noetic on respectively 20.04.

Keywords: ROS ,ros_control, sleepless, helpless

dependencies

• Robot Operating System (ROS)
• roscpp
• roslint
• dynamic_reconfigure
• hardware_interface
• controller_interface
• pluginlib
• std_msgs
• tf
• forward_command_controller

About me

Author: ZhuolinLiu(刘焯林)

Github ID: Aoalas

Address: 2874257768@qq.com

Usage

Just Download it and put it in your catkin workspace, don't forget to catkin build.

After you roslaunch the hero robot, type this code in your terminal👇

roslaunch hero_chassis_controller hero_chassis_controller_pid.launch 

Now the PID function is ready, you can modify the PID parameter to control it.

For example, rosrun your rqt_reconfigure then you can see the PID operation interface for each wheel.

Files in package

Config files

Config file config

• controllers.yaml Params of hero_chassis_controller and joint_state_controller.

Launch files

• hero_chassis_controller_pid.launch : Activate the PID for hero_chassis_robot.

Other files

• cfg/PidConfig.cfg : The file for PID, you don't need to modify it.
• The Folder named src and include contains the code for the function, you can check it out and get some details in it.

Additional controller (Keyboard)

I made a keyboard controller for hero robot, I push it to other repository, if can help you to control the robot with keyboard, the usage is written in the README.md in this repository.

Here is the link ↓↓↓

https://github.com/Aoalas/keyboard_controller

Gratitude list

Thanks to GDUT for letting me know about this amazing team called DynamicX.😎

Thanks to happy_cat senior, Ciler senior, and all the other seniors for their guidances to us.😊

Thanks to my pro peers who remind my weakness and help me to urge myself to work harder.😭

Thanks to my body for allowing me to persevere in many situations when I stay up so late and stay up all night.😇

Thanks to those pros extremely who will show mercy to me. ( If I successfully join the team ) 😘