COPERNICUS

ROS Software Maintainer: Botsync
Website: https://botsync.co
Branch: melodic-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 installing Copernicus Software on your devices.
  1. Installing Copernicus Software

     • Download repository for Copernicus (Physical Robot)

     • Download repository for Copernicus_Simulation

     The default branch is melodic-devel.

  2. Adding a Source Workspace

ROS on Copernicus

• The following are tutorials on how to use Copernicus with the Robot Operating System.
  1. Operating Copernicus in a Simulated Environment

     • Launching a Gazebo Simulation environment

     • Mapping an environment with Copernicus

     • Running AMCL with Copernicus

  2. Operating the physical robot

     • Launching the Navigation Stack with Copernicus

Packages

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

  copernicus_base	Bring up Package for Copernicus. Package contains launch files to connect to the robot and run the sensor driver
  copernicus_control	Contains configuration required for ROS control.
  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 using the robot localization package.
  copernicus_msgs	Contains ROS messages specific to Copernicus such as 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.
  copernicus_rules	Contains scripts for detecting sensors with a USB interface, connected to the PC, and making them identifiable by the PC via specific names.

• Please refer to Copernicus Topics for available ROS topics and Sensor 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
  /user/cmd_vel	70
  /keyboard/cmd_vel	80
  /joy/cmd_vel	90
  e_stop_status	100

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