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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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 {{:​tut_podo_explanation.png?​400}} {{:​tut_podo_explanation.png?​400}}
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 +<fc orange>
 +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. ​
 +</fc>
 \\ \\
 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 ยท Last modified: 2016/08/08 05:46 by keitaronishimura