From 66c405e528797c1ac18f035d54a9f6b96602244e Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Sun, 30 Apr 2017 10:06:32 +0200 Subject: [PATCH] Updated README --- README | 20 +++++++++++--------- 1 file changed, 11 insertions(+), 9 deletions(-) diff --git a/README b/README index b14225f..1bf537f 100644 --- a/README +++ b/README @@ -1,20 +1,24 @@ README libroboint/Robo Explorer ROS Connector ========== -This is a ROS Stack to control the fischertechnik Robo Explorer with ROS using libroboint. -Its is split in the Nodes: +This contains a ROS package to control the fischertechnik Robo Explorer with ROS using libroboint. +Its is split in the following Nodes: -libft_adapter: Accesses the Interface over libroboint. Inputs are send via ft/get_inputs message. Outputs are set with ft/set_output and ft/set_motor message. --robo_explorer.py: Provides the Robo Explorer functions: +-robo_explorer_hardware: Hardware functions for the ros_control DiffDriveController +-robo_explorer.py: Provides additional Robo Explorer functions, e.g. sensors -You need to use the Robo Explorer with Wheels instead of Tracks because the Tracks are too inaccurate for Odometry. -I used the Wheel Setup from Mobile Robots 2. -The world frame is "odom" since this setup is running without SLAM and amcl. +The world frame of the navigation setup is "odom" since this robot is running without SLAM and amcl. + +Hardware setup: +<----------> +You need to use the Robo Explorer with wheels instead of tracks because the tracks are too inaccurate for Odometry. +I used the two wheel Setup from Mobile Robots 2. Requirements: <----------> -ROS - http://www.ros.org tested under Groovy +ROS - http://www.ros.org tested under Groovy, Indigo, Kinetic libroboint - http://defiant.homedns.org/~erik/ft/libft/ @@ -22,8 +26,6 @@ Author: <----------> Erik Andresen - erik@vontaene.de -Please contact me for bugs or any suggestions - Compiling/Installing: <----------> -- 2.39.5