ros_whill
ROS package for WHILL Model CR
ROS API
Subscribed Topics
(sensor_msgs/Joy)
/whill/controller/joy- Virtual WHILL joystick input. You can controll WHILL via this topic.
Published Topics
(sensor_msgs/Joy)
/whill/states/joy- Joystick status
(sensor_msgs/JointState)
/whill/states/jointState- Wheel rotate position(rad) and rotation velocity(rad/s)
(sensor_msgs/Imu)
/whill/states/imu- IMU measured data.
(sensor_msgs/BatteryState)
/whill/states/batteryState- Battery information
Requirements
- Ubuntu 16.04
- ROS kinetic
Build
In your shell:
cd ~/catkin_ws
catkin_make
rospack profile
ros_whill package is sometimes not recognized if you not set "rospack profile". (After executed "rosrun ros_whill", you might see the error message "not found package".)
Build only ros_whill package
catkin_make -DCATKIN_WHITELIST_PACKAGES="ros_whill"
SerialPort Settings
Set
Edit your ~/.bashrc
(bash) or ~/.zshrc
(zsh) to add this line:
export TTY_WHILL=/dev/[YOUR SERIAL PORT DEVICE]
Setting will be applied automatically from next shell starting or booting up.
Apply setting immediately
In your shell:
(bash)
source ~/.bashrc
(zsh)
source ~/.zshrc
Check the current setting
echo $TTY_WHILL # -> Should be /dev/[YOUR SERIAL PORT DEVICE]
Launch
roslaunch ros_whill modelc.launch
Set serial port as an argument of the launch file
roslaunch ros_whill modelc.launch serialport:=/dev/[YOUR SERIAL PORT DEVICE]
In the case of opening serial port failed
Edit
/lib/udev/rules.d/50-udev-default.rules
And add:
KERNEL=="ttyUSB[0-9]*", MODE="0666"
Change Speed Profile
rosservice call /set_speed_profile {4, 15, 16, 64, 10, 16, 56, 10, 56, 72}