qrb_ros_robot_base

qrb_ros_robot_base is a ROS 2 API to control robot base, it calls qrb_robot_base_manager.

Run

1. Source this file to set up the environment on your device:

ssh root@[ip-addr]
(ssh) export HOME=/opt
(ssh) source /opt/qcom/qirp-sdk/qirp-setup.sh
(ssh) export ROS_DOMAIN_ID=xx
(ssh) source /usr/bin/ros_setup.bash

2. Use this command to run robot base manager

(ssh) ros2 launch qrb_ros_robot_base robot_base.launch.py

Parameters

Parameters Definition

Name	Value Description	Default Value
car_wheel_perimeter	float (m)	0.4115
car_wheel_space	float (m)	0.3302
imu_enable	bool	false
motion_max_speed	float (m/s)	1.0
motion_max_angle_speed	float (rad/s)	1.5
motion_pid_speed	float[3]	[400.0, 200.0, 0.0]
motion_odom_frequency	1-50	50
motion_tf_enable	bool	false
rc_enable	bool	true
rc_max_speed	float (m/s)	0.8
rc_max_angle_speed	float (rad/s)	2.0
scale_speed	float	1.0
scale_speed_odom	float	1.0
ultra_enable	bool	true
ultra_quantity	uint	7
oba_bottom_distance	float (m)	0.05
oba_front_distance	float (m)	0.15
oba_side_distance	float (m)	0.15
test_transport_latency_enable	bool	false
time_sync_interval_sec	unsigned int (s)	300
time_sync_threshold_ms	unsigned int (ms)	10

Attention

• rc_max_speed need <= motion_max_speed

• rc_max_angle_speed need <= motion_max_angle_speed

Robot Models

Change robot model with environment variable:

export ROBOT_BASE_MODEL=robot_base_mini

Current support robot models:

• Standard Robot base: robot_base (default)

• Circle Robot base: robot_base_mini

Parameters Configuration

Change config yaml file

• Standard Robot base: robot_base.yaml (default)

• Circle Robot base: robot_base_mini.yaml

code path: qrb_ros_robot_base/qrb_ros_robot_base/config/obot_base.yaml

device path: /opt/qcom/qirp-sdk/usr/share/qrb_ros_robot_base/config/robot_base.yaml

/qrb_robot_base_manager:
    ros__parameters:
    ultra_enable: true
    rc_enable: true
    motion_tf_enable: false
    # other parameters

Relaunch ROS node

ros2 launch qrb_ros_robot_base robot_base.launch.py