Lakshadeep / low_level_control

Contains ROS packages for low level control such as heading, distance etc.

Low level control

Contains ROS pacakges for motion planning and control.

Heading control

Provides PD heading controller

Subscribed topics

• desired heading
• monitored heading

Published topics

• motion command

Advertised services

• switch for enabling/disabling heading controller

Launch

roslaunch heading_control heading_control.launch

Motion control

Plans and executes the motion

Subscribed topics

• desired heading
• monitored heading

Published topics

• command velocities to the platform controller

Advertised services

• switch for enabling/disabling motion planner & controller
• configuring motion planner and controller params
• service for changing motion controller mode

Launch

roslaunch motion_control motion_control.launch

All the low level control sub-compoenents can be run together using low_level_control meta-package as follows

roslaunch low_level_control low_level_control.launch