README libroboint/Robo Explorer ROS Connector
==========
This is a ROS Stack to control the fischertechnik Robo Explorer with ROS using libroboint.
Its is split in the Nodes:
-libft_adapter: Accesses the Interface over libroboint.
 Inputs are send via ft/get_inputs message.
 Outputs are set with ft/set_output and ft/set_motor message.
-robo_explorer.py: Provides the Robo Explorer functions:
 Laserscan is faked by the Sonar Sensor.

You need to use the Robo Explorer with Wheels instead of Tracks because the Tracks are too inaccurate for Odometry.
I used the Wheel Setup from Mobile Robots 2.


Requirements:
<---------->
ROS - http://www.ros.org tested under Groovy
libroboint - http://defiant.homedns.org/~erik/ft/libft/


Author:
<---------->
Erik Andresen - erik@vontaene.de

Please contact me for bugs or any suggestions


Compiling/Installing:
<---------->
This is a catkin package, see general ROS Documentation.


Commands:
<---------->
-When running a component (eg. rviz) remote:
# export ROS_MASTER_URI=http://192.168.0.2:11311
# export ROS_IP=$OWN_IP
-Start Explorer:
# roslaunch explorer_configuration.launch
-Start Navigation Stack:
# roslaunch move_base.launch
-Start RViz:
# rosrun rviz rviz
-Manually setting of Translation/Rotation speed:
 Forward:
# rostopic pub -1 cmd_vel geometry_msgs/Twist '[0.1, 0, 0]' '[0, 0, 0.0]'
 Turn:
# rostopic pub -1 cmd_vel geometry_msgs/Twist '[0.1, 0, 0]' '[0, 0, 0.4]'
-Keyboard Control:
# rosrun pr2_teleop teleop_pr2_keyboard