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 Robo Explorer with Wheels instead of Tracks because the Tracks are too inaccurate for Odometry.
+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:
Compiling/Installing:
<---------->
-This is a catkin package, see generall ROS Documentation.
+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:
-# rostopic pub -1 cmd_vel geometry_msgs/Twist '[0.0, 0, 0]' '[0, 0, 0.0]'
+ 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]'