seed_r7_ros_pkg for cosmo[WIP] #104
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現状ros noeticのみ対応
◎cosmoとSGSに対応
主なアップデート内容
・cosmoコマンドの通信インターフェイス追加
・プラグインとして機能ごとにコントローラーを分離
・slamパラメータ調整
・コントローラ操作時の台車加減速を調整
・virtual_controller対応
・タイヤの回転速度をフィードバック値から算出できるよう修正
・複数MSのUSB一本化やUSBの本数増減に対応可能になった
・実機と別ポートを開くので。実機接続中でもシミュレーションを立ち上げることを可能にした
・ms経由のjoyコマンドをシミュレーションで発行する機能を追加
・msからのcosmo, aeroコマンドを仮想的に送受信できるms_stubを追加