tri_hardware_drivers

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

Most drivers support being built with ROS 1 (Kinetic+) or ROS 2 (Galactic+), with the desired ROS version being selected by symlinks to CMakeLists.txt and package.xml for each package.

To select ROS 1 for all driver packages, run $ ./select_ros1.sh.

To select ROS 2 for all driver packages, run $ ./select_ros2.sh.

Dependencies

• ROS 1 Kinetic+ or ROS 2 Galactic+

ROS provides the build system and IPC with the drivers.

• 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.