Contents
Overview
Cloud is a small node used for laser of hokuyo. Receive laserscan dates from hokuyo and quaternions form another device, then send out the pointcloud2 datas.
Usage
Node "serial_com" can be started by running:
1 rosrun dlut_move_base serial_com
Node "sick_key" can be started by running:
1 rosrun dlut_move_base sick_key
Nodes
serial_com
The serial_com node is a base controller node.It must run on a computer attached directly to the motor controller by serial port.Subscribed Topics
cmd_velocity (dlut_move_base/Velocity)- the command to control the robot.
- the command to control the robot.
Published Topics
robot_velocity (dlut_move_base/Twist)- the velocity from the robot.
- Get the odometry value.
Parameters
Port (int, default: 2)- The serial port number.
- The baud rate of the serial port.
sick_key
The sick_key node is used to get the command from the keyboard.Published Topics
is_run (std_msgs/Bool)- Publish the message to tell the motor to rotate or not.
- Publish the message whether the holder begin to rotate or not.
- Publish the command to the topic to control the robot.
Parameters
scale_angular (double, default: 0.1)- the weight of the angular velocity's increment.
- the weight of the linear velocity's increment.
Bug Reports & Feature Requests
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