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evapi_ros: evarobot_battery | evarobot_bumper | evarobot_controller | evarobot_driver | evarobot_eio | evarobot_infrared | evarobot_minimu9 | evarobot_odometry | evarobot_orientation | evarobot_sonar | evarobot_start | evarobot_teleop

Package Summary

evarobot_controller controls speed of right and left wheels on Evarobot. It includes two basic pid controllers.



evarobot_controller is basic PID controller to drive the Evarobot with referance velocities. evarobot_controller takes reference and measured velocities and outputs calculated velocities which will be applied to the Evarobot.

Subscribed Topics

cmd_vel (geometry_msgs/Twist) wheel_vel (geometry_msgs/PointStamped)

Published Topics

cntr_wheel_vel (geometry_msgs/Twist)


~desiredTopic (string, default: cmd_vel)

~measuredTopic (string, default: wheel_vel) ~controllerTopic (string, default: cntr_wheel_vel) ~alwaysOn (bool, default: true) ~wheelSeparation (double, default: 0.32) ~Frequency (double, default: 10.0) ~integralConstLeft (double, default: 0.5) ~derivativeConstLeft (double, default: 0.05) ~proportionalConstLeft (double, default: 0.3) ~integralConstRight (double, default: 0.5) ~derivativeConstRight (double, default: 0.05) ~proportionalConstRight (double, default: 0.3)

2020-01-25 12:38