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XRobots / OnmiSwerve

MIT License
18 stars 6 forks source link

Ros2 control #1

Open 3mrrrx opened 2 years ago

3mrrrx commented 2 years ago

Is there any (plans) for controlling this robot using ros2? Or/ and a nav2 stack?

What would your approach be in regard to Controller Server?

This the first model of swerve wheel I have found online.

Working on something similar but with six wheels that are locking together in there swrive angle, just to make things simple.

Would be happy to contribute...

XRobots commented 2 years ago

No plans at the moment, I've not looked at ROS2 at all.

3mrrrx commented 2 years ago

Ah.. That's a pitty..as I am new to the game. I went directly to ros2.... Don't sure how smart thiswas.

Condering ros1? Do you have any files (URDF etc. ) I could start with to start the ros2 implementation?

XRobots commented 2 years ago

No, I don't have any ROS support for this robot at all.

3mrrrx commented 2 years ago

Hey agian,

Going through the internet I found this code/repo/tutorial:

https://github.com/SteveMacenski/nav2_rosdevday_2021

The good thing about it is that it support the mpo_700 robot which is a swerve drive robot and has the hole na-stack defined.

This a video where the auther of the repo is doing a kind of show and tell:

https://youtu.be/BmyCi2lcdJY

usama0300854 commented 3 months ago

hey i am working to develop this robot on ros. did u work on it yet?