Testbed overview

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Hardware

The Testbed has a total of four motors.

Additional informal information on the testbed wiki

Software

The testbed software communicates with the testbed hardware.

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The interface is written using the ros_control infrastructure. The main node implements the ros_control hardware_interace::RobotHW and includes a controller_manager.

The controller_manager interface lets the system dynamically load different control algorithms. I believe we will use the joint_trajectory_controller controllers.

The end user may communicate with the testbed hardware interface directly (to control the testbed directly), or can communicate with the ROV emulator