cartControlRos

Control plugin for omni-wheel SDF cart

Requiremets

omni-wheel SDF cart requirements, qt5, cMake 3.1.0

Make

• Make sure you setup all ROS environment variables ( describe here)
• cd plugin
• mkdir build
• cd build
• cmake ../
• make

After that in directory ../plugin/build/devel/lib/

libmain.so -plugin lib ( cart integration instruction here)

CartControlPlugin/client - client executable

Usage

To run client you must

• run roscore
• run rosparam set use_sim_time true for synchronization
• run rosrun gazebo_ros gazebo and put robot inside simulation

There are three widgets (from left to right)

• Path setter
• Path getter
• Joystick

Move mouse like this on the joystick to move robot

Click on the path setter to setup path, click "Send path" button to send it to the plugin