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Elektron packages
Elektron robot is Robot Programming and Pattern Recognition Group mobile base. This repository encloses core Elektron robot packages:
- elektron_base - basic ROS nodes of the robot (with submodule elektron-real-effectors),
- elektron_bringup - ROS .launch files,
- elektron_msgs - .msg and .srv files,
- elektron_description - robot and its sensors meshes, urdf, example occupancy maps
- elektron-simulation - it's a submodule that consists of gazebo launch and world files, it also provides real effectors for gazebo,
- elektron_tower - Elektron tower real effector controller,
- elektron_navigation - navigation stack config files,
- elektron_control - ros_controllers config files for robot and gazebo,
- rapp_api_elektron - Elektron API interface to RappRobots library,
- elektron_rapps - Exemplary Rapps for Elektron robot
and an metapackage elektron_pkgs.
Contains core robot nodes grouped in subfolders: control_subsystem,
virtual_effectors, virtual_receptors, real_receptors, elektron-real-effectors. The division is based on Embodied Agent approach []. There are separate real receptors and effectors for simulation and real robot. Appropriate nodes are being launched either supporting real robot environment:
roslaunch elektron_bringup elektron_robot.launch
, or supporting gazebo simulation:
roslaunch elektron_gazebo elektron_world.launch
Contains Elektron robot launch files. There are two core launching files:
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elektron_robot.launch - starts complex real elektron robot system,
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elektron_minimal.launch - starts only Elektron base ROS nodes and sensor nodes,
In launch/include directory, there are core launch files.
Defines Elektron robot communication interfaces. It contains .msg and .srv files.
Specifies Elektron robot compartments and their phisical parameters. This package contains:
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meshes- 3D models of Elektron sensors and Elektron base, -
robots- Possible elektron base configuration descriptions, -
urdf- Sensors and other compartments of Elektron base macros,
Enables simulation of Elektron robot in gazebo simulator. Contains launch files, scripts and exemplary worlds. Supported Gazebo version > 5. Detailed description of Elektron simulation package can be found in elektron-simulation wiki.
Elektron tower core driver. Publishes ROS service of moveTower type to control Elektron tower device. The device address is specified in param/elektron_tower.yaml file.
Exemplary console call:
rosservice call /re_moveTowerJoint "yaw: 1.0
pitch: 2.0
moveJoints:
- 'yaw'"
This call will set only yaw orientation of tower. One needs to specify joints names in moveJoints element. Controller will set joints that were specified in moveJoints field only.
This package consists of several configuration files for ROS navigation stack packages.
Elektron is controlled by several efford controllers, position controllers and base controller. This package consists of ros_control configuration files, controllers urdf files and launch files.
This package encloses exemplary applications for Elektron robot. Applications use RAPP system and its libraries to make Elektron robot fulfill desired goals.