-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.
Compiling/Installing:
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-This is a catkin package, see generall ROS Documentation.
+This is a catkin package, see general ROS Documentation.
Commands:
-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]'
+-Keyboard Control:
+# rosrun pr2_teleop teleop_pr2_keyboard