Single repo for ROS drivers for third-party robotics hardware used at TRI
ROS provides the build system, Catkin, and IPC with the driver. May work with other ROS variants, but has not been tested outside of Ubuntu 16.04.* and ROS Kinetic.
ROS messages for robot control. Depending on your ROS installation type (-base, -desktop, -desktop-full), you may need to install these separately.
ROS messages for the TF system. Depending on your ROS installation type (-base, -desktop, -desktop-full), you may need to install these separately.
Common functions for math operations, trajectory parametrization, data de/serialization, and logging.
libmodbus provides support for Modbus RTU and Modbus TCP communications.
- Linux kernel with socketcan support enabled (enabled by default in Ubuntu 16.04.* and others)
CAN is supported using the socketcan system in Linux that allows CAN bus communication in a manner similar to network sockets.