childqert.blogg.se - Block shooter github

#BLOCK SHOOTER GITHUB INSTALL#
#BLOCK SHOOTER GITHUB UPDATE#
#BLOCK SHOOTER GITHUB CODE#
#BLOCK SHOOTER GITHUB LICENSE#

Correct some shooter param\'s description.

Correct dependencies and interface type.

Use "pragma once" in rm_shooter_controllers headers instead of.

#BLOCK SHOOTER GITHUB UPDATE#

Update the README.md in rm_shooter_controller.Update the format of Bugs & Feature Requests README.md in.Change name of namespace:from hardware_interface to rm_control.Įdwinlinks/master Update README.md in rm_shooter_controller.Ye-luo-xi-tui/namespace Change name of namespace:from Merge branch \'namespace\' # Conflicts: #.Merge branch \'master\' into chassis/fix_filter.Update the config of rm_shooter_controller, load only oneĬontroller on launch instead of spawn controllers.Merge branch \'gimbal/opti_or_simplify\' into.Contributors: QiayuanLiao, qiayuan, ye-luo-xi-tui, yezi.Delete configuration of robot_state_controller in each of.Rm_chassis_controllers/config/standard3.yamlįrom ye-luo-xi-tui/standard3 Update standard3 config Merge branch \'master\' into maintain # Conflicts: #.Robot_state_controller in each of controllers\' config file Merge branch \'master\' into forward_feedįrom ye-luo-xi-tui/maintain Delete configuration of.Contributors: BruceLannn, QiayuanLiao, YuuinIH, mlione, qiayuan,.Delete some config files in rm_controller.įrom ye-luo-xi-tui/master Deprecated imu_filter_controller.Merge branch \'master\' into gimbal_trackįrom mlione/master Delete some config files in rm_controllers.Add testing option to shooter for testing the trigger without.Merge remote-tracking branch \'origin/master\'.Controller configuration examples Complete descriptionĬhangelog for package rm_shooter_controllers 0.1.7 () These parameters mean the friction wheel's angular velocity, the number of it's name expresses different bullet speeds (in m/s).

If the anti angle of the friction wheel exceeds anti_block_threshold (in rad), it means that friction wheel reverse successfully. When the friction wheel get rid of BLOCK state successfully, the state of shooter controller will switch to PUSH. If shooter controller enter BLOCK state, the friction wheel will reverse anti_block_angle (in rad) to try to get rid of blocking. If the time to enter BLOCK state exceeds block_overtime (in s), the state of shooter controller will switch to PUSH.

m), and the angular velocity of trigger motor is less than block_speed (in rad/s), it will be regarded as blocking if it continues for block_duration (in s), and the the state of shooter controller will switch to BLOCK.

When the torque of the trigger motor is greater than block_effort (in N

block_effort, block_speed, block_duration (double).

shooter.cfg: Add parameters related to friction wheel's angular velocity corresponding to each bullet speed and trigger block detection parameters.Ĭommands of controller state, bullet speed, frequency of shooting.

#BLOCK SHOOTER GITHUB INSTALL#

To install all packages from this repository as Debian packages use EffortJointInterface Used to send torque commands for friction wheels and trigger wheel.JointStateInterface Used to obtain the speed of friction wheel and trigger wheel and the position of trigger wheel.

This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed. The rm_shooter_controller package has been tested under ROS Melodic and Noetic on respectively 18.04 and 20.04.

#BLOCK SHOOTER GITHUB CODE#

The source code is released under a BSD 3-Clause license.

#BLOCK SHOOTER GITHUB LICENSE#

Keywords: ROS, robomaster, shooter License It can set the bullet speed by setting the angular velocity of the friction wheel, and at the same time realizes the block detection. The rm_shooter_controller has four states: STOP, READY, PUSH, and BLOCK, it controls the left and right friction wheels and the trigger wheel through PID algorithm according to the command.