Differences

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--- adirb:developers [2024/08/12 13:43] – Sandro
+++ adirb:developers [2025/03/11 16:29] (current) – Sandro
@@ Line 2: / Line 2: @@
 Welcome to the official developer documentation for ADIR BASIC, the differential drive robot designed for versatile indoor/ outdoor navigation. This chapter provides instructions on how to get ADIR up and running on your system.
+----
+=== REPOSITORY ===
 The official repository can be found here: [[https://github.com/AntRobotics-de/adir]]
+----
+=== SIMULATION ===
+This repository uses NVIDIA's Isaac Sim for simulating the Adir robot: [[https://github.com/AntRobotics-de/adir_simulation]]
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@@ Line 82: / Line 92: @@
   echo "yaml https://antrobotics-de.github.io/ppa/rosdep/antrobotics.yaml" | sudo tee /etc/ros/rosdep/sources.list.d/antrobotics.list >/dev/null
-rosdep update
+  rosdep update
 **Cloning the repository**
@@ Line 107: / Line 117: @@
 === ADDITIONAL INFORMATION ===
-== Topics Available: ==
+== Topics ==
-For debugging purposes the folowing topics can be called.
-  /motor_controller/status
-can verify if stall is detected or if ADIR is running on RC/ autonomy commands
-  /motor_controller/fault_state
-can verify if a situation like overheat, overvoltage, undervoltage, short circuit, emergency stop or mosfet failures happen using boolean
+Below is a list of the topics used in this project along with their respective message types and descriptions.
-  /motor_controller/motor*/runtime_status
+^ Topic Name (Publishers)      ^ Message Type       ^ Description ^
+| /odom    | nav_msgs/Odometry | Publishes the adir odometry information(currently only using wheel encoders) |
+| /motor_controller/voltage      | std_msgs/Float | Publishes robot voltage. Please charge when it falls below 23V |
+| /motor_controller/status    | ros_can_interfaces/Frame | Publishes information on serial,pulse or analog mode and stall detection |
+| /motor_controller/fault_state    | ros_can_interfaces/Frame | Publishes information on overheating, undervoltage, overvoltage, shortcircuit, emergency stop, motor sensor setup fault & mosfet failure |
+| /motor_controller/motor*/runtimestatus    | ros_can_interfaces/Frame | Publishes information on amps limit active, motor stall. loop error detection, safety stop active, forward limit triggered, reverse limit triggered & amps trigger activated |
-can verify if a situation like motor_stalled, forward_limit_triggered, reverse_limit_triggered, amps_trigger_activated happen using boolean
+^ Topic Name (Subscribers)      ^ Message Type       ^ Description ^
+| /cmd_vel    | geometry_msgs/Twist | Subscribes to velocity commands for the robot |
-  /motor_controller/voltage
+== Services ==
-can verify the voltage of ADIR. Please note if below 21V, please charge the ADIR.
+^ Service Name      ^ Service Type       ^ Description ^
+| /ResetOdometry    | std_srvs/Trigger | Resets the adir wheel odometry |
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