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AutonomyLab / create_robot

ROS driver for iRobot Create 1 and 2.
http://www.autonomylab.org/create_autonomy
BSD 3-Clause "New" or "Revised" License
198 stars 164 forks source link

Publish JointState messages for the wheels #26

Closed lopsided98 closed 8 years ago

lopsided98 commented 8 years ago

This PR adds support for publishing JointState messages for the wheels on the Create. This allows robot_state_publisher to generate transforms for the wheels. These messages could also allow other nodes to access the velocities of the wheels.

This fixes #25.

To support these changes, AutonomyLab/libcreate#19 must be merged.

jacobperron commented 8 years ago

Looks good. I'll try it out next week :+1:

I guess you should update the calls to get velocity to reflect changes in libcreate

lopsided98 commented 8 years ago

I squashed the commits, renamed the methods, updated the README and stored the radius in a variable.

jacobperron commented 8 years ago

Please update the git tag in CMakeLists.txt to master.
In the future I'll release libcreate as a catkin package to avoid using git.