Hunter Driver
Module Role¶
hunter_ros2 is the ROS 2 wrapper for Hunter-family chassis. It:
- consumes
/cmd_vel - communicates with the base through
ugv_sdk - publishes odometry and Hunter status feedback
- keeps the
odom -> base_linkcontract stable for the rest of the stack
Main Interfaces¶
| Direction | Topic / TF | Type | Description |
|---|---|---|---|
| Subscribe | /cmd_vel |
geometry_msgs/Twist |
velocity command |
| Publish | /odom |
nav_msgs/Odometry |
odometry |
| Publish | /hunter_status |
hunter_msgs/HunterStatus |
chassis state |
| Publish | odom -> base_link |
tf2 |
base TF |