/roverbridge

Bridge to integrate [rover-firmware](https://github.com/nhorro/rover-firmware) to ROS.

Primary LanguagePython

roverbridge

Overview

Bridge to integrate rover-firmware to ROS. Received telemetry through custom serial protocol is republished using ROS paradigm and some some commands are exposed as ROS services. This package is related to:

and:

Keywords: rover, ros, raspberrypi, arduino.

Example image

Building from Source

Dependencies

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using:

cd catkin_workspace/src
git clone (https://github.com/nhorro/roverbridge)
cd ../
rosdep install --from-paths . --ignore-src
catkin_make

Usage

Typical usage scenario is in Rover (Raspberry Pi) together with a camera node:

export ROS_IP="RASPBERRY_PI_IP" 
export ROS_MASTER_URI="http://LAPTOP_IP:11311"
roslaunch roverbridge bridgecam.launch

or to run bridge only:

export ROS_IP="RASPBERRY_PI_IP" 
export ROS_MASTER_URI="http://LAPTOP_IP:11311"
roslaunch roverbridge bridge.launch

Launch files

  • bridgecam.launch: Launch bridge and camera(typical usage scenario)

    Argument set

    • port Serial port.
    • baudrate Baudrate.
    • vehicle_id vehicle_id used as prefix in pub/sub messages.

Nodes

roverbridge

Acts as a bridge between rover and ROS.

Subscribed Topics

  • /cmd_vel ([geometry_msgs/cmd_vel])

    This should be desired Rover linear and angular speeds. However, in the current version as no PID is implemented throttle and angular values are mapped directly to voltage values applied to the motors.

Published Topics

  • odom ([nav_msg/imu])

    Odometry.

  • imu ([sensor_msgs/imu])

    Readings from IMU sensor.