Single repo for ROS drivers for third-party robotics hardware used at TRI

• ROS Kinetic

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.

• control_msgs

ROS messages for robot control. Depending on your ROS installation type (-base, -desktop, -desktop-full), you may need to install these separately.

• tf2_msgs

ROS messages for the TF system. Depending on your ROS installation type (-base, -desktop, -desktop-full), you may need to install these separately.

• common_robotics_utilities

Common functions for math operations, trajectory parametrization, data de/serialization, and logging.

• libmodbus

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.