VOLTA

:Volta_Header

ROS Software Maintainer: Botsync

Website: https://botsync.co

Branch: kinetic-devel

Botsync Volta is a compact, sleek and low-profile indoor platform designed to support your robotics research and education needs. From testing your latest navigation and mapping algorithms to supporting your automation or robotics courses, Volta can be used for a wide variety of indoor applications.

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 Volta Software on your devices:
    1. Installing Volta Software The default branch is melodic-devel, check Adding a Source Workspace below on choosing the kinetic-devel.
    2. Adding a Source Workspace

ROS on Volta

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 Volta and their purposes are listed below.

    volta_base

    Bring up Package for Volta. Package contains launch files to connect to the robot and run the sensor driver

    volta_control

    Contains configuration required for ROS control.

    volta_description

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

    volta_localization

    Contains configuration for sensor fusion of wheel odometry and IMU data using the robot localization package.

    volta_msgs

    Contains ROS messages specific to Volta such as the power board messages, etc.

    volta_navigation

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

    volta_teleoperator

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

  • Please refer to Volta Topics for available ROS topics and Sensor Topics.

Configuration Control

  • Volta 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

Setting up and Operating Physical Volta

  • The following description and links are the tutorials on how to set up and operate the physical robot.
    1. Setting up Volta for the first time

      • Push the power button at the back of Volta to turn on the system before commencing this tutorial.
    2. Volta Bringup background service

Wiki: Robots/Volta (last edited 2020-10-20 03:26:37 by Botsync)