Deprecated. Not maintained anymore
Based on Linorobot firmware
Responsible for:
- Motor PID regulation;
- Velocity calculation;
- IMU (MPU-6150);
- Battery voltage monitoring;
- Piezo buzzer support
Subscribed ROS topics:
- cmd_vel (geometry_msgs/Twist) - velocity commands;
- pid (cbbot_msgs/cfgPID) - Obsolete. Used for passing PID controller coefficients in realtime;
- srv_cmd (cbbot_msgs/CBService) - Service command topic. Used for sending service commands to base controller. For commands list refer to cbbot_msgs/doc/commands.txt
Published ROS topics:
- raw_imu (ros_arduino_msgs/RawImu) - IMU sensor data: gyroscope, accelerometer, compass;
- raw_vel (geometry_msgs/Vector3Stamped) - velocity data;
- battery_state (sensor_msgs/BatteryState) - battery information