ROS driver for the Innok Heros robot plattform.

Bring up your Innok Heros

Turn on Your Robot

Press the Power button on the Innok Heros.

Start the ROS Driver

Start the ROS driver with

roslaunch innok_heros_driver heros_base.launch

Make sure that the host parameter in heros_base.launch is set to the correct address of your Heros (default host is



driver for the Innok Heros robot platform

Subscribed Topics

cmd_vel (geometry_msgs/Twist)
  • velocity commands for the platform

Published Topics

odom (nav_msgs/Odometry)
  • odometry data of the robot


host (string, default: "")
  • host address of the robot

Provided tf Transforms

  • the current estimate of the robot's pose within the odom frame

Wiki: innok_heros_driver (last edited 2017-06-28 07:03:59 by SabrinaHeerklotz)