Mobile base

Work in progress

There are some different types of robotic mobile bases categorized by their mechanical structure:

  • Legged robot: use mechanical limbs for movement. They are more versatile than wheeled robots and can traverse many different terrains, though these advantages require increased complexity and power consumption. Legged robots often imitate legged animals, such as humans or insects. The numbers of legs varies depending the robot, for example one-legged SALTO robot inspired by jumping robots, 2 legged robot like a humanoid, quadrupedal robot, hexapod etc.
  • Wheeled robot: are robots that navigate around the ground using motorized wheels to propel themselves. This design is simpler than using treads or legs and by using wheels they are easier to design, build, and program for movement in flat, not-so-rugged terrain. Most wheeled robots use differential steering, which uses separately driven wheels for movement. They can change direction by rotating each wheel at a different speed. There may be additional wheels that are not driven by a motor these extra wheels help keep it balanced. Look different types.
  • Tracked vehicle: also called track-type tractor, tractor crawler, or track-laying vehicle, is a vehicle that runs on continuous tracks instead of wheels. This kind of mobile robot also has varieties, for example there are tracked robot with flipper-stabilizer arm used to climb stairs among other things.
HRIM defines a mobile base as
An automatic machine that is capable of locomotion.

Although there are different types, they all have the same objective, so, apart from the common requirements (ID, Status, Power, Specs and Simulation, detailed in HRIM component model section), all mobile bases will contain a topic referring a movement around its environment.

HRIM component model: MobileBase
/hrim_composite_mobilebase_<instance_id>/id hrim_generic_msgs/msg/ID.msg topic (Sub) M Component identification.
/hrim_composite_mobilebase_<instance_id>/status hrim_generic_msgs/msg/Status.msg topic (Sub) M How the module is working.
/hrim_composite_mobilebase_<instance_id>/power hrim_generic_msgs/msg/Power.msg topic (Sub) M Describes the power supply type and give the information about the module power consumption.
/hrim_composite_mobilebase_<instance_id>/specs_comm hrim_generic_msgs/msg/SpecsCommunication.msg topic (Sub) M Published the capabilities in term of communicaction that the component offers.
/hrim_composite_mobilebase_<instance_id>/state_comm hrim_generic_msgs/msg/StateCommunication.msg topic (Sub) M Published the resources that the component is using at the moment.
/hrim_composite_mobilebase_<instance_id>/module_3d hrim_generic_msgs/msg/Simulation3D.msg topic (Sub) M Ask for the 3D model of the HRIM component.
/hrim_composite_mobilebase_<instance_id>/module_urdf hrim_generic_msgs/msg/SimulationURDF.msg topic (Sub) M Ask for the information of,3D model of the HRIM component.
/hrim_composite_mobilebase_<instance_id>/specs hrim_composite_mobilebase_msgs/msg/SpecsMobileBase.msg topic (Sub) M Mobile base characteristics.
/hrim_composite_mobilebase_<instance_id>/goal_position hrim_composite_mobilebase_msgs/msg/GoalMobileBase.msg topic (Sub) M Movement orders.
/hrim_composite_mobilebase_<instance_id>/rc hrim_ui_rc_msgs/msg/RC.msg topic (Sub) O Conect to remote control.
/hrim_composite_mobilebase_<instance_id>/reconfiguration hrim_sensor_imu_msgs/msg/Reconfiguration.msg topic (Sub) O Dynamic reconfiguration of H-ROS systems. The integration of an IMU sensor is needed.
Parameters
rc_max_velocity double m/s O Related to RC.msg
Joistik maximum linear velocity value.
NOTE: Mandatory if RC.msg is added.
rc_max_yaw double rad/s O Related to RC.msg
Joistik maximum vehicle's turning angle.
NOTE: Mandatory if RC.msg is added.