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interbotix_xslocobot_control package from interbotix_ros_rovers repo

interbotix_ros_xslocobots_examples interbotix_xslocobot_joy interbotix_xslocobot_landmark_nav interbotix_xslocobot_moveit_interface interbotix_ros_xslocobots interbotix_xslocobot_control interbotix_xslocobot_descriptions interbotix_xslocobot_gazebo interbotix_xslocobot_moveit interbotix_xslocobot_nav interbotix_xslocobot_perception interbotix_xslocobot_ros_control

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Package Summary

Tags	No category tags.
Version	0.0.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Description	ROS Packages for Interbotix Rovers
Checkout URI	https://github.com/interbotix/interbotix_ros_rovers.git
VCS Type	git
VCS Version	main
Last Updated	2023-05-18
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	robotics ros mobile-robots mobile-robotics ros2 interbotix
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The interbotix_xslocobot_control package

Additional Links

No additional links.

Maintainers

Solomon Wiznitzer

Authors

Solomon Wiznitzer

interbotix_ros_xslocobots/interbotix_xslocobot_control/README.md

interbotix_xslocobot_control

Overview

This package contains the configuration and launch files necessary to easily start the various components of the X-Series LoCoBot platform. This includes launching the xs_sdk node responsible for driving the DYNAMIXEL motors on the robot, loading the URDF to the robot_description parameter, starting the base, and activating the RealSense depth camera and RPLidar 2D laser scanner. Essentially, this package is what all ‘downstream’ ROS packages should reference to get the robot up and running.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	interbotix_xs_sdk
	interbotix_xs_modules
	interbotix_xslocobot_descriptions
	kobuki_node
	realsense2_camera
	rgbd_launch
	rplidar_ros
	catkin

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
interbotix_xslocobot_joy
interbotix_xslocobot_landmark_nav
interbotix_ros_xslocobots
interbotix_xslocobot_nav
interbotix_xslocobot_perception
interbotix_xslocobot_ros_control

Launch files

launch/xslocobot_control.launch
- - robot_model [default: ]
  - robot_name [default: locobot]
  - show_gripper_bar [default: true]
  - show_gripper_fingers [default: true]
  - external_urdf_loc [default: ]
  - use_rviz [default: false]
  - rviz_frame [default: $(arg robot_name)/base_footprint]
  - base_type [default: $(optenv INTERBOTIX_XSLOCOBOT_BASE_TYPE create3)]
  - lidar_type [default: $(optenv INTERBOTIX_XSLOCOBOT_LIDAR_TYPE rplidar_a2m8)]
  - use_base [default: false]
  - use_dock [default: false]
  - use_lidar [default: false]
  - show_lidar [default: $(arg use_lidar)]
  - use_camera [default: false]
  - filters [default: ]
  - align_depth [default: false]
  - color_fps [default: 30]
  - color_width [default: 640]
  - color_height [default: 480]
  - depth_fps [default: 30]
  - depth_width [default: 640]
  - depth_height [default: 480]
  - motor_configs [default: $(find interbotix_xslocobot_control)/config/$(arg robot_model).yaml]
  - load_configs [default: true]
  - use_sim [default: false]
  - mode_configs [default: $(find interbotix_xslocobot_control)/config/modes_$(arg mode_type).yaml]
launch/xslocobot_python.launch
- - robot_model [default: ]
  - use_nav [default: false]
  - use_perception [default: false]
  - use_armtag [default: false]
  - use_static_transform_pub [default: false]
  - use_sim [default: false]
  - robot_name [default: locobot]
  - show_gripper_bar [default: true]
  - show_gripper_fingers [default: true]
  - external_urdf_loc [default: ]
  - use_rviz [default: false]
  - rviz_frame [default: $(arg robot_name)/base_footprint]
  - use_base [default: $(arg use_nav)]
  - use_dock [default: false]
  - use_lidar [default: false]
  - show_lidar [default: $(arg use_lidar)]
  - use_camera [default: $(eval arg('use_nav') or arg('use_perception'))]
  - filters [default: pointcloud]
  - align_depth [default: $(arg use_nav)]
  - color_fps [default: 30]
  - color_width [default: 640]
  - color_height [default: 480]
  - depth_fps [default: 30]
  - depth_width [default: 640]
  - depth_height [default: 480]
  - load_configs [default: true]
  - localization [default: false]
  - rtabmap_args [default: ]
  - use_rtabmapviz [default: false]
  - rtabmapviz_args [default: ]
  - database_path [default: ~/.ros/rtabmap.db]
  - camera_tilt_angle [default: 0.2618]
  - filter_ns [default: $(arg robot_name)/pc_filter]
  - filter_params [default: $(find interbotix_xslocobot_perception)/config/filter_params.yaml]
  - use_pointcloud_tuner_gui [default: false]
  - enable_pipeline [default: $(arg use_pointcloud_tuner_gui)]
  - cloud_topic [default: /$(arg robot_name)/camera/depth/color/points]
  - tag_family [default: tagStandard41h12]
  - standalone_tags [default: $(find interbotix_perception_modules)/config/tags.yaml]
  - camera_frame [default: $(arg robot_name)/camera_color_optical_frame]
  - apriltag_ns [default: $(arg robot_name)/apriltag]
  - camera_color_topic [default: $(arg robot_name)/camera/color/image_raw]
  - camera_info_topic [default: $(arg robot_name)/camera/color/camera_info]
  - armtag_ns [default: $(arg robot_name)/armtag]
  - ref_frame [default: $(arg robot_name)/base_link]
  - arm_base_frame [default: $(arg robot_name)/plate_link]
  - arm_tag_frame [default: $(arg robot_name)/ar_tag_link]
  - use_armtag_tuner_gui [default: false]
  - position_only [default: true]
  - load_transforms [default: true]
  - transform_filepath [default: $(find interbotix_xslocobot_perception)/config/static_transforms.yaml]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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