Section: New Software and Platforms

ROS Qt Control

Keywords: Control - Robot Operating System (ROS) - 2D

Scientific Description: This ROS module allows to easily develop different controllers for wheeled mobile robots: Controller class just has to be inherited, the new class only needing a constructor and a chooseVelocities method. A graphical user interface using Qt makes it easy to choose a controller and to set its parameters, and it displays odometric data sent by ROS and the velocities sent to ROS by the controller.

News Of The Year: The code structure has been modified in order to propose a class hierarchy, with controllers aiming to reach a given state and others built to follow a selected trajectory.

• Participant: Alexis Scheuer

• Contact: Alexis Scheuer