1 README libroboint/Robo Explorer ROS Connector
3 This is a ROS Stack to control the fischertechnik Robo Explorer with ROS using libroboint.
4 Its is split in the 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.py: Provides the Robo Explorer functions:
9 Laserscan is faked by the Sonar Sensor.
11 You need to use the Robo Explorer with Wheels instead of Tracks because the Tracks are too inaccurate for Odometry.
12 I used the Wheel Setup from Mobile Robots 2.
13 The world frame is "odom" since this setup is running without SLAM and amcl.
18 ROS - http://www.ros.org tested under Groovy
19 libroboint - http://defiant.homedns.org/~erik/ft/libft/
24 Erik Andresen - erik@vontaene.de
26 Please contact me for bugs or any suggestions
31 This is a catkin package, see general ROS Documentation.
37 # roslaunch explorer_configuration.launch
40 -Manually setting of Translation/Rotation speed:
42 # rostopic pub -1 cmd_vel geometry_msgs/Twist '[0.1, 0, 0]' '[0, 0, 0.0]'
44 # rostopic pub -1 cmd_vel geometry_msgs/Twist '[0.1, 0, 0]' '[0, 0, 0.4]'