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.
+The world frame is "odom" since this setup is running without SLAM and amcl.
Requirements:
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 '[0.1, 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