robot_hardware

robot hardware, this is a frame, you can manage lots of hardware sensors, driver, manage running, monitor status and so on

protocol

• can
• serial(485/232)
• modbus(serial/network)
• network
• usb
• ...

hardware

• motor
• curtis
• imu
• laser
• camera
• battery
• joystick
• ...

frame

• observer and subject
• data synchronize notify
• data dispatch
• serial override and callback read/write
• service and driver auto load/unload, or separate
• ...

depend

• ubuntu 16.04
• cmake >= 2.8.0
• gcc >= 5.4
• ros kinetic(ros1)
• notice: ros_node can separate from node, you can use ros2 frame

how to build

1. first you should execute ./script/install_env.sh
2. then execute ./script/build.sh