1 README libroboint/Robo Explorer ROS Connector
3 This contains a ROS package to control the fischertechnik Robo Explorer with ROS using libroboint.
4 Its is split in the following Nodes:
5 -libft_adapter: Accesses the Interface over libroboint.
6 Inputs are send via ft/get_inputs message.
7 Outputs are set with ft/set_output and ft/set_motor message.
8 -robo_explorer_hardware: Hardware functions for the ros_control DiffDriveController
9 -robo_explorer.py: Provides additional Robo Explorer functions, e.g. sensors
11 The world frame of the navigation setup is "odom" since this robot is running without SLAM and amcl.
15 You need to use the Robo Explorer with wheels instead of tracks because the tracks are too inaccurate for Odometry.
16 I used the two wheel Setup from Mobile Robots 2.
21 ROS - http://www.ros.org tested under Groovy, Indigo, Kinetic
22 libroboint - http://defiant.homedns.org/~erik/ft/libft/
27 Erik Andresen - erik@vontaene.de
32 This is a catkin package, see general ROS Documentation.
38 # roslaunch explorer_configuration.launch
41 -Manually setting of Translation/Rotation speed:
43 # rostopic pub -1 cmd_vel geometry_msgs/Twist '[0.1, 0, 0]' '[0, 0, 0.0]'
45 # rostopic pub -1 cmd_vel geometry_msgs/Twist '[0.1, 0, 0]' '[0, 0, 0.4]'