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Want to use my own base in a turtlebot variant and was wondering if it is easier to modify the existing create_driver.py to control my base over serial but still look like a create to outside world or is there a more central module that could be used?

For instance would turtlebot node be the code to modify and write my own driver. Do other people call create_driver.py other than turtlebot_node?

Want How best to use my own write base in a driver for turtlebot variant and was wondering if it is easier to modify the existing create_driver.py to control my base over serial but still look like with a create to outside world or is there a more central module that could be used?custum hardware base?

For instance Hi

I am developing a turtlebot variant that does not use an existing turtlebot base. I want to write a driver for it, but am unsure of turtlebot architecture. It seems like the code is tied to the create base or even more so to the kubuki base. I would like to keep base code contained to a single node and new_base_driver.py. Is the turtlebot node the central point used to communicate with the base driver code? Is there a generic base driver module I should work off of? What do you think would be the code best way to modify proceed?

The base will be non-holonomic in one configuration and write my own driver. holonomic in another. Do other people call create_driver.py other than turtlebot_node?In short it can spin about it's center point but also go backwards to pull and push a cart that can be attached to it to carry instruments, sensors, etc.