COPERNICUS

:Copernicus_Header

ROS Software Maintainer: Botsync
Website: https://botsync.co
Branch: kinetic-devel

Botsync Copernicus is a rugged and easy to integrate ground vehicle designed to support your prototyping and research needs. Copernicus supports the Robot Operating System (ROS) out of the box and provides access to motion commands through a serial interface.

The system has been designed to support multiple third part sensors and manipulators. The support covers the software as well as the electromechanical integration of the sensors that you need, such that your effort in setting up the system that you need for your research efforts is as minimal as possible.

You can find out more details about us at our website or you can drop us an email at contact@botsync.co.

Software Installation

  • The following are instructions on using Copernicus Software first time.
    1. Download Copernicus Repository
    2. Adding a Source Workspace

ROS on Copernicus

The above tutorials assume that you have a basic understanding of the ROS.You can refer to ROS Tutorial for a ROS refresher.

Packages

  • The available ROS packages in Copernicus and their purposes are listed below.

    copernicus_control

    Contains configuration for robot twist+mux.

    copernicus_description

    Contains the URDF files for the robot and the launch files for running Gazebo Simulations and opening RViz visualization

    copernicus_localization

    Contains configuration for sensor fusion of wheel odometry and IMU data and the launch file for the same.

    copernicus_msgs

    Contains ROS messages specific to Copernicus’ such as the SONAR message, the power board messages, etc

    copernicus_navigation

    Contains launch files required for running gmapping, amcl and move_base.

    copernicus_teleoperator

    Contains configuration files and launch files for activating keyboard or joystick teleoperation.

  • Please refer to Copernicus Topics for available ROS topics.

Configuration Control

  • Copernicus is setup using the teleop_twist_mux package. Refer to below for the command instruction priorities.

    Command Topic

    Priority

    /nav/cmd_vel

    50

    /keyboard/cmd_vel

    80

    /joy/cmd_vel

    90

Operating Copernicus

  • The following are tutorials on how to operate the physical robot.
    1. Booting Copernicus
      • Insert the key into the key switch and turn it clockwise to unlock the robot
      • Turn on the power switch to power the controllers, on-board PC and sensors
    2. Setting up your workstation

    3. Enabling and disabling autostart

Wiki: Robots/Copernicus (last edited 2020-06-26 10:42:26 by Botsync)