gehnaphore/sodadrive

Robot PenguIn

How-To-Run

• Power-Up AND Log-In

• Start wheel_controller_node and drive_controller_node

cd ~/catkin_ws
source devel/setup.bash
roslaunch rpi drive_controller.launch

• Login another terminal

• Start teleop_keyboard_node

cd ~/catkin_ws
source devel/setup.bash
rosrun rpi teleop_keyboard_node

Nodes

wheel_controller_node

This node is responsible for controlling the individual speed of the two wheels of the differential robot drive system.

Subscribed Topics

• /rpi/speed_1 (std_msgs/Float64)

Set speed of the left motor in m/s.

• /rpi/speed_2 (std_msgs/Float64)

Set speed of the right motor in m/s.

Published Topics

• /rpi/actual_speed_1 (std_msgs/Float64)

Actual speed of the left motor in m/s.

• /rpi/actual_speed_2 (std_msgs/Float64)

Actual speed of the right motor in m/s.

Services

None

Parameters

None

drive_controller_node

This node provides target wheel speeds for the wheel_controller_node based on the desired linear and angular speed.

Subscribed Topics

• /rpi/cmd_vel (geometry_msgs/Twist)

Linear (m/s) and angular (DEG/s) speed of the robot.

• /rpi/actual_speed_1 (std_msgs/Float64)

Actual speed of the left motor in m/s.

• /rpi/actual_speed_2 (std_msgs/Float64)

Actual speed of the right motor in m/s.

Published Topics

• /rpi/speed_1 (std_msgs/Float64)

Set speed of the left motor in m/s.

• /rpi/speed_2 (std_msgs/Float64)

Set speed of the right motor in m/s.

Services

None

Parameters

None

teleop_keyboard

This node allows to control the robot via keyboard by sending geometry_msgs/Twist Messages to the /rpi/cmd_vel topic upon the reception of certain keyboard inputs.

Subscribed Topics

None

Published Topics

• /rpi/cmd_vel (geometry_msgs/Twist)

Linear (m/s) and angular (DEG/s) speed of the robot.

Services

None

Parameters

None

wheel_controller_test

This node allows for sending the desired target speed for the left and the right motor to the wheel_controller_node. This node is for testing only.

Subscribed Topics

None

Published Topics

• /rpi/speed_1 (std_msgs/Float64)

Set speed of the left motor in m/s.

• /rpi/speed_2 (std_msgs/Float64)

Set speed of the right motor in m/s.

Services

None

Parameters

None

Configuration

Login

User: pi Pass: raspberry

Setup WiFi/WLAN

• Scan for available WiFi networks

sudo iwlist wlan0 scan

• Edit /etc/wpa_supplicant/wpa_supplicant.conf

sudo vim /etc/wpa_supplicant/wpa_supplicant.conf

• Go to the bottom of the file and add the following:

network={
    ssid="The_ESSID_from_earlier"
    psk="Your_wifi_password"
}

• Restart the WiFi adapter

sudo ifdown wlan0
sudo ifup wlan0

• Verify that a connection was erstablished

ifconfig wlan0