minimec-ros2 [wip]

The minimec is a custom mecanum wheel base made for development. This repository contains a simple C++ library and ROS2 packages that make the software running on the robot.

Although this was purposely done for the Minimec, I tried to keep the software decoupled from the hardware. A user could ideally swap out the minimec_driver package for one that implements communication with their own hardware and still have mostly everything working.

More documentation to be added soon.

ROS2 architecture

[diagram]

Packages

• minimec_bringup
• minimec_control
• minimec_description
• minimec_driver
• minimec_msgs

minimeclib - a C++ simple kinematics library for mecanum wheel robots

The MecanumDrive class is the core of this library.

It provides the following functions:

• FKin
• IKin
• setWheelOffsets

setup

A /setup folder is included in this repository to help set up the robot easily and quickly.

• Follow the steps in /setup to cofigure the robot.
• To use the ros packages, compile the workspace. colcon build --cmake-args -DBUILD_TESTING=OFF, the -DBUILD_TESTING flag is optional, but it prevents from compiling tests. Note: cross compilation is recommended, as compilation on the Pi can take quite a bit.