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differential-track-vehicle-controller's Introduction

Environment

  1. Ubuntu20.04
  2. ROS noetic

Dependience

  1. Casadi
  2. ros-noetic-serial

Description for package

  1. custom_msgs
    自定义消息类型，包括高度计、深度计、电机转速、推进器pwm值;
  2. serial_bridge
    串口数据与ROS话题数据转发;
  3. tracked_vehicle_controller
    定深定高-->script-->depth_mpc_controller.py
    水平面运动控制-->script-->mmpc_controller.py,
    mmpc_controller.py是mpc_controller.py的替代, 其将轮上速度分配从mpc的运动学模型中分离

differential-track-vehicle-controller's People

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