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:

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.
The world frame is "odom" since this setup is running without SLAM and amcl.


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


Author:
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Erik Andresen - erik@vontaene.de

Please contact me for bugs or any suggestions


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


Commands:
<---------->
-Start Explorer:
# roslaunch explorer_configuration.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]'