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Paul Rouanet
ros2_control_bolt
Commits
99964789
Commit
99964789
authored
Aug 31, 2021
by
Paul Rouanet
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Add of explanation about work
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db40920a
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ros2_description_bolt/README.md
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99964789
# ros2_control_bolt
----------------------
Author : Paul Rouanet
### What it is
A description of physical properties of Bolt collected from ODRI (robot_properties).
The meshes of each actuators and of the body are in "meshes".
### In ros2_control :
system_bolt.ros2_control.xacro :
Definition of all data usefull for system_bolt.cpp (ros2_hardware_interface_bolt) :
-
Ethernet connexion name
-
Each joint with :
-
Name
-
Min and max values about position, velcity, effort, gain_kp and gain_kd
-
State values for the same data
-
Properties of each joint : offset, number, polarity ...
-
The IMU with :
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x, y, z values of gyroscope, accelerometer, linear_acceleration, attitude_euler
-
x, y, z, and w values of quaternion
### In urdf
leg.xacro : all URDF data about legs
system_bolt.urdf.xacro : global doc that calls leg.xacro
system_bolt_description.urdf.xacro : this doc calls ALL the others
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