Robotino mBot

The repository contains the directories:

robotino_arduino : Includes source code for running ros_nodes on Arduino Mega.
robotino_ros : Includes high level applications.

1. Setting up

Clone the repository to your computer.
Clone the compatible rosserial to your catkin_ws and compile.

Arduino End
- Copy the files under 'robotino_arduino to your arduino sketch libraries.
- Open robotino_arduino_IO on your adrduino IDE and burn the sketch to your board (Currently supported Arduino MEGA only).
ROS End
- Move the robotino_ros folder to your catkin_ws and compile.
Open bashrc and add following lines then source.
- export ROS_IP=http://<Your IP adadress>
- export ROS_MASTER_URI=http://<Your MASTER(Robotino) IP adadress>:11311
Connect the arduino/robot with the companion computer.

SSH into Robotino from your companion computer as ssh nvidia@134.28.45.77
Once you have done the setup and everything works smooth. Call roscore in a terminal.
Now in a separate terminal run the following. Make sure you have permissions to access the port.
- rosrun rosserial_python serial_node.py /dev/ttyACM0 _baud:=115200
Then run the following
- roslaunch robotino_ros robotino.launch
Finally, run
- rosrun robotino_ros teleop_twist_keyboard.py
Robot can now be controlled using teleop.