WheeledRobin is a two wheeled robot that balances on his wheels and is able to receive commands via the serial interface from a host computer. The robot was developed at the Institute for Robotics at Johannes Kepler University Linz. The commands are related to the SCI for the iRobot Roomba but are not fully compatible. The ROS interface of WheeledRobin is similar to the interface of TurtleBot. This allows to use many of the demos available for TurtleBot.
Installation (wstool from source)
By checking out from our repositories, you can always stay up to date with the latest version. Use the following commands to check out the WheeledRobin stacks:
Install ROS software (ROS Hydro with Ubuntu 12.04 LTS is recommended) at http://www.ros.org/wiki/ROS/Installation, please select Ubuntu platform.
- Use ros-hydro-desktop-full packages at the installation page (recommended)
- Install turtlebot stack
sudo apt-get install ros-hydro-turtlebot
Create a catkin workspace (see Catkin Tutorial)
Install wstool (if not already installed) (see wstool Tutorial)
- Switch to catkin workspace into src folder
Add WheeledRobin repositories
wstool init wstool set wheeled_robin --git https://github.com/robinJKU/wheeled_robin.git wstool set wheeled_robin_apps --git https://github.com/robinJKU/wheeled_robin_apps.git wstool set wheeled_robin_simulator --git https://github.com/robinJKU/wheeled_robin_simulator.git wstool set wheeled_robin_viz --git https://github.com/robinJKU/wheeled_robin_viz.git wstool update
Build catkin workspace (see Catkin Tutorial)
cd .. catkin_make
Bringup the real robot
To start the WheeledRobin robot power on the robot and type:
roslaunch wheeled_robin_bringup minimal.launch
The robot should make a beep that signals that the robot is ready to receive velocity commands. Proceed with starting nodes that supply velocity commands like teleoperation nodes.
Bringup a faked robot
To start a faked WheeledRobin robot that uses a faked perfect odometry (the robot is not simulated using physics) type:
roslaunch wheeled_robin_bringup minimal_fake.launch
Proceed with starting nodes that supply velocity commands like teleoperation nodes.
To start the Kinect mounted in the head of WheeledRobin just type:
roslaunch wheeled_robin_bringup 3dsensor.launch
To run the visualization of WheeledRobin just type
roslaunch wheeled_robin_rviz_launchers view_robot.launch
on the base station (this command will not run on the robot itself as the robot does not provide any graphical capabilities).
The WheeledRobin can be teleoperated like the TurtleBot. One can use the TurtleBot keyboard_teleop, joystick_teleop and the interactive_markers_teleop from the turtlebot_apps stack to command velocites to the robot.
The wheeled_robin_teleop package contains a launch file to operate the robot with a Thrustmaster T-Wireless gamepad.
There are multiple stacks specific to the WheeledRobin:
Contains the core drivers for WheeledRobin
Contains various demos specific for WheeledRobin
Contains packages for simulating WheeledRobin
Contains packages for visualizing WheeledRobin