Overview

This package contains the primary binary which runs on Ridgeback, providing the rosserial_server-based communication the MCU, as well as diagnostic support, and other basic services such as lighting and cooling. In addition, it provides the CAN based communication to the Puma motor controllers.

Compass Calibration

Ridgeback includes a built-in magnetometer, which is used by imu_filter_madgwick to estimate orientation. To calibrate the magnetometer using scripts provided by this package, see the compass calibration tutorial from Jackal.