From 0d953e3d684282057e5bc9c5388a39ad5a71c52f Mon Sep 17 00:00:00 2001 From: Tan Pin Da Date: Mon, 7 Sep 2020 14:34:16 +0800 Subject: [PATCH] added description of selecting .xacro and odom_topic_name to readme --- README.md | 19 +++++++++++++++ samples/scout_v2_nav.xacro | 48 ++++++++++++++++++++++++++++++++++++++ 2 files changed, 67 insertions(+) create mode 100644 samples/scout_v2_nav.xacro diff --git a/README.md b/README.md index 9473c9e..f51f23c 100644 --- a/README.md +++ b/README.md @@ -71,6 +71,25 @@ Nvidia Jeston TX2/Xavier/XavierNX have CAN controller(s) integrated in the main The default command values of the keyboard teleop node are high, make sure you decrease the speed commands before starting to control the robot with your keyboard! Have your remote controller ready to take over the control whenever necessary. +## Further usage of ROS packages +A brief overview on how to use this ROS package for your custom setup of the scout platform is described in this segment. A detailed example of such applications can be found in the [scout_navigation]() repository. + +### Additional Sensors +One possible usage of this package is when additional sensors, such as a lidar is mounted. A new .xacro file will be required to describe the relative position of the new sensor for the publishing of tf frames. + +A [sample](samples/scout_v2_nav.xacro) .xacro file is present in this repository. The base .xacro file of an empty scout platform is included in this sample, and additional links are defined. + +The nodes in this ROS package is made to handle only the control of the scout platform and publishing of the status of the platform. A separate node should be created by the user to handle the sensors. + +### Alternative Odometry Calculation + +Another frequent usage would be using sensor fusion of an IMU. In such a scenario, the odometry calculated by this package would likely be needed to published under a custom name, instead of "/odom". Therefore, the nanme of the topic can be set using +``` +$ scout_bringup scout_minimal.launch odom_topic_name:="" +``` + + + ## Summary of ROS packages - scout_minimal.launch: Creates ros node that diff --git a/samples/scout_v2_nav.xacro b/samples/scout_v2_nav.xacro new file mode 100644 index 0000000..445fdd4 --- /dev/null +++ b/samples/scout_v2_nav.xacro @@ -0,0 +1,48 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +