search

jackal / jackal_robot

Robot packages for Jackal
65 stars 59 forks source link

Created ability to namespace the frame IDs of messages published by the MCU. #38

Closed RobertBlakeAnderson closed 2 years ago

RobertBlakeAnderson commented 3 years ago

This addresses the problem described in #36

civerachb-cpr commented 3 years ago

Thanks for submitting this pull-request. For clarification, the goal here is to allow multiple robots to operate with a single, external, shared ROS master?

Normally the Jackal is intended to operate with a local ROS master running inside the robot. If multiple robots need to communicate, we typically suggest a multi-master system, such as the one discussed here: http://wiki.ros.org/multi_jackal_tutorials

RobertBlakeAnderson commented 3 years ago

Yes, we're running the jackal and another robot on a single master. This adds a namespace to the frame IDs of the topics that originate on the motor controller, so that the IMU and GPS frames of the two robots are distinguished.