search

GuiRitter / OpenBase

An omnidirectional mobile platform with a 3 omnidirectional wheels layout
MIT License
142 stars 45 forks source link

Is it possible to control each wheel separately with python? #11

Closed v24483089 closed 5 years ago

v24483089 commented 5 years ago

Hello, Is it possible to control each wheel separately with python? Where should I start ?

GuiRitter commented 5 years ago

Hi there.

I suppose it should be possible. Unfortunately, I never worked with ROS with Python, so I can't help you with this language specifically.

But what I can tell you is that, once you launch this project, ROS will create topics that you can publish to, where you can send movement commands to control the robot. The Python process doesn't even need to be on the same machine as the one where the robot is running.

So, as long as your Python code can publish to topics, you can control this robot. To control the wheels, you need to send messages according to the format specified by Movement.msg and Velocity.msg.

If you haven't already, I suggest you should start with ROS tutorials to get to know the most important ROS concepts. Then, try to use the command line ROS tools that show the available topics and try to control the robot from there before writing any program. The files in the script folder have examples on how to publish to topics via the command line.

If you still have questions, feel free to ask them. Otherwise, remember to close the issue when you've accomplished your objective.

v24483089 commented 5 years ago

Thanks, it is very helpful to me.