how_podo_works_with_ros-joy
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| how_podo_works_with_ros-joy [2016/08/08 05:43] – keitaronishimura | how_podo_works_with_ros-joy [2016/08/08 05:46] (current) – keitaronishimura | ||
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| + | NOTE: This is a simplified picture, as when the command goes from PODOGUI it goes through shared memory to get to the AL as well but I though too many arrows going to shared memory would be confusing. | ||
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| In this case with the controller, the input from the controller is taken by ROS and given to the middle man code (podo_connector) and converted into data usable by shared memory. This is then taken by the Omniwheel AL when prompted by the PODOGUI. The data in shared memory is then converted into a motor output and sent through Daemon (middle man) to be sent to ROS and used by the simulator. Finally we see the model in the simulators move. | In this case with the controller, the input from the controller is taken by ROS and given to the middle man code (podo_connector) and converted into data usable by shared memory. This is then taken by the Omniwheel AL when prompted by the PODOGUI. The data in shared memory is then converted into a motor output and sent through Daemon (middle man) to be sent to ROS and used by the simulator. Finally we see the model in the simulators move. | ||
how_podo_works_with_ros-joy.txt · Last modified: 2016/08/08 05:46 by keitaronishimura