Documentation Status

erratic_robot: erratic_description | erratic_gazebo_plugins | erratic_navigation | erratic_navigation_apps | erratic_player | erratic_teleop | player

Package Summary

Documented

A ROS node that wraps up the Player erratic driver, which provides access to the Erratic mobile robot.

erratic_robot: erratic_description | erratic_gazebo_plugins | erratic_navigation | erratic_navigation_apps | erratic_player | erratic_teleop | player

Package Summary

Documented

A ROS node that wraps up the Player erratic driver, which provides access to the Erratic mobile robot.

erratic_robot: erratic_description | erratic_gazebo_plugins | erratic_navigation | erratic_navigation_apps | erratic_player | erratic_teleop | player

Package Summary

Documented

A ROS node that wraps up the Player erratic driver, which provides access to the Erratic mobile robot.

erratic_robot: erratic_description | erratic_gazebo_plugins | erratic_navigation | erratic_navigation_apps | erratic_player | erratic_teleop | player

Package Summary

Documented

A ROS node that wraps up the Player erratic driver, which provides access to the Erratic mobile robot.

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Overview

This package allows the use of Erratic mobile base by Videre Design within ROS.

Nodes

erratic_player

A wrapper ROS node around an Erratic driver found in player project.

Subscribed Topics

cmd_vel (geometry_msgs/Twist)
  • Velocity commands to drive the robot.
cmd_vision_tilt (std_msgs/Float64)
  • Angle command to the vision tilt servo actuator. Only enabled when enable_vision_pan_tilt parameter is set to true.
cmd_vision_pan (std_msgs/Float64)
  • Angle command to the vision pan servo actuator. Only enabled when enable_vision_pan_tilt parameter is set to true.
cmd_ranger_tilt (std_msgs/Float64)
  • Angle command to the ranger tilt servo actuator. Only enabled when enable_ranger_tilt parameter is set to true.

Published Topics

odom (nav_msgs/Odometry)
  • Odometry data.
battery_state (erratic_player/BatteryState)
  • Battery data.
ir (erratic_player/RangeArray)
  • IR sensors range information.
sonar (erratic_player/RangeArray)
  • Sonar sensors range information.

Parameters

port_name (string, default: "/dev/ttyUSB0")
  • Name of the serial port that the robot is connected to.
odometry_frame_id (string, default: "odom")
  • The name of the frame which will be used to send stamped transforms through the TF mechanism.
max_trans_vel (string, default: "0.5")
  • Maximum translational velocity.
max_rot_vel (string, default: "100")
  • Maximum rotational velocity.
max_rot_vel (string, default: "100")
  • Maximum rotational velocity.
trans_acc (string, default: "0")
  • Maximum translational acceleration, nonnegative. The value of "0" means use robot's default value.
trans_decel (string, default: trans_acc)
  • Maximum translational deceleration, nonpositive. The value of "0" means use robot's default value.
rot_acc (string, default: "0")
  • Maximum rotational acceleration, nonnegative. The value of "0" means use robot's default value.
rot_decel (string, default: rot_acc)
  • Maximum rotational deceleration, nonpositive. The value of "0" means use robot's default value.
enable_ir (bool, default: false)
  • Whether to enable IR sensors.
enable_sonar (bool, default: false)
  • Whether to enable Sonar sensors.
enable_vision_pan_tilt (bool, default: false)
  • Whether to enable vision pan/tilt servo motors.
enable_ranger_tilt (bool, default: false)
  • Whether to enable ranger tilt servo motor.

Tutorials

Links to relevant tutorials

Wiki: erratic_player (last edited 2011-01-06 19:25:47 by AntonsRebguns)