caperren/osurc_mars_rover_2017_2018
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Wrote the base of rover_control. Currently drives rover using FrSky. Needs tuning.

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This commit is contained in:
Corwin Perren
2018-02-26 03:04:21 -08:00
parent 5837622d3c
commit f37337a976
90 changed files with 34328 additions and 49773 deletions
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27
software/rover/rover_control/launch/rover_control.launch Normal file
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<launch>
<group ns="rover_control">
<node name="iris_controller" pkg="rover_control" type="iris_controller.py" output="screen">
<param name="port" value="/dev/rover/ttyIRIS_2_2"/>
</node>
<node name="control_coordinator" pkg="rover_control" type="control_coordinator.py" output="screen"/>
<node name="rear_bogie" pkg="rover_control" type="drive_control.py" output="screen">
<param name="port" value="/dev/rover/ttyIRIS_0_0"/>
<param name="drive_control_topic" value="drive_control/rear"/>
</node>
<node name="left_bogie" pkg="rover_control" type="drive_control.py" output="screen">
<param name="port" value="/dev/rover/ttyIRIS_0_1"/>
<param name="drive_control_topic" value="drive_control/left"/>
<param name="invert_first_motor" value="True"/>
<param name="invert_second_motor" value="True"/>
</node>
<node name="right_bogie" pkg="rover_control" type="drive_control.py" output="screen">
<param name="port" value="/dev/rover/ttyIRIS_0_2"/>
<param name="drive_control_topic" value="drive_control/right"/>
</node>
</group>
</launch>