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How to choose hardware for ROS packages

asked 2022-11-27 13:38:33 -0600

distro gravatar image

Let's say I wish to use the hector_gazebo_plugins package with a custom robot I want to build. How would I know which hardware would the package would work on? Hopefully my question makes sense, basically how I choose hardware(wheel encoders, thrusters, sensors etc) based on the the packages that are generally used to control these types of hardware?

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answered 2022-11-28 15:39:55 -0600

Davies Ogunsina gravatar image

What you basically doing is to get all hardware set up ready for your robot just running a bunch of ros nodes /pacakges (Gmapping,hector ,amcl,move_base etc) on your brain of your robot(master) ..make sure you get a good dc motor with attached encoder .They are alot you can get online ,also the packages your running doesn't determine the hardware to get. You just connecting both publisher and subscriber node which has a topic name to integrate ros with this hardware via a communication protocol. As for hector node you don't need a means of odom to publish a can use a lidar/depth camera to generate a map since the tf tree goes from map>base_link>laser_frame .But that of gmapping you need odom data to get it started all view ,get a great hardware that suits ros implementation.

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@Davies Ogunsina The "communication protocol" part is what's troubling me. Maybe I'm simply overthinking this but how exaclty am I supposed to setup an interface that enables this communication between the hardware and ROS. For the turtlebot3 for instance, it seems the OpenCR board was used to power the wheel encoders and the LiDAR and some how enable data from these devices be configured into ROS data some how.

distro gravatar image distro  ( 2022-11-29 20:33:00 -0600 )edit

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Asked: 2022-11-27 13:38:33 -0600

Seen: 31 times

Last updated: Nov 28 '22