ROS API

single_miniq_node

single_miniq_node is a driver for a single LSE miniQ robot. It subscribes to velocity commands and publishes the robot's odometry and gas sensor data.

Subscribed Topics

cmd_vel (geometry_msgs/Twist)
  • Velocity commands to the robot.

Published Topics

odom (nav_msgs/Odometry)
  • Odometry readings from the robot.
nose (lse_sensor_msgs/Nostril)
  • Gas sensor data from the LSE miniQ e2v MiSC 5524.

Parameters

port (string, default: /dev/ttyUSB0)
  • The serial port where the LSE miniQ can be found.
baudrate (int, default: 57600)
  • The serial port baud rate.

multi_miniq_node

multi_miniq_node is a driver for multiple LSE miniQ robots. It subscribes to velocity commands and publishes each robot's odometry and gas sensor data. Each topic is pushed down into its own namespaces, by prefixing the topics with robot_<i>/ , e.g., robot_0/cmd_vel etc.

Subscribed Topics

cmd_vel (geometry_msgs/Twist)
  • Velocity commands to the robot.

Published Topics

odom (nav_msgs/Odometry)
  • Odometry readings from the robot.
nose (lse_sensor_msgs/Nostril)
  • Gas sensor data from the LSE miniQ e2v MiSC 5524.

Parameters

port (string, default: /dev/ttyUSB0)
  • The serial port where the LSE miniQ can be found.
baudrate (int, default: 57600)
  • The serial port baud rate.
/list_of_ids (list)
  • If no list of ids is provided the driver will scan the XBee network for existing LSE miniQ robots.

miniq_pid_server

miniq_pid_server is a node for making online calibrations of the LSE miniQ PID velocity controllers. The LSE miniQ has two PID velocity controllers for each wheel, one to start the motor and another for regular operation. To learn how to use this node check this tutorial.

Parameters

port (string, default: /dev/ttyUSB0)
  • The serial port where the LSE miniQ can be found.
baudrate (int, default: 57600)
  • The serial port baud rate.

setup_miniq

setup_miniq is a node for downloading settings into the EEPROM of a LSE miniQ robot. This can be done using an XBee connection with a single LSE miniQ, however it is safer to do so using a USB cable. This node should be used in a launch file containing the settings of the robot. To learn how to use this node check this tutorial.

Parameters

starting_l_kp (int, default: 350)
  • The Kp gain for the left wheel starting PID velocity controller.
starting_l_ki (int, default: 80)
  • The Ki gain for the left wheel starting PID velocity controller.
starting_l_kd (int, default: 0)
  • The Kd gain for the left wheel starting PID velocity controller.
running_l_kp (int, default: 150)
  • The Kp gain for the left wheel running PID velocity controller.
running_l_ki (int, default: 20)
  • The Ki gain for the left wheel running PID velocity controller.
running_l_kd (int, default: 2)
  • The Kd gain for the left wheel running PID velocity controller.
starting_r_kp (int, default: 350)
  • The Kp gain for the right wheel starting PID velocity controller.
starting_r_ki (int, default: 80)
  • The Ki gain for the right wheel starting PID velocity controller.
starting_r_kd (int, default: 0)
  • The Kd gain for the right wheel starting PID velocity controller.
running_r_kp (int, default: 150)
  • The Kp gain for the right wheel running PID velocity controller.
running_r_ki (int, default: 20)
  • The Ki gain for the right wheel running PID velocity controller.
running_r_kd (int, default: 2)
  • The Kd gain for the right wheel running PID velocity controller.
battery_type (int, default: 0)
  • The batteries being used in the LSE miniQ (0=1x 18650, 1=4x AA).
mode (int, default: 0)
  • The communication mode used by the LSE miniQ (0=Serial, 1=XBee API). The XBee API mode is not yet implemented. It is possible to force a LSE miniQ to enter the Serial mode by pressing the KEY3 button on startup.
odometry_d (double, default: 0.0)
  • Odometry correction coefficient for the distance travelled.
odometry_yaw (double, default: 0.0)
  • Odometry correction coefficient for the angle.
gas_a (double, default: 0.0)
  • Gas sensor calibration coefficient a.
gas_b (double, default: 0.0)
  • Gas sensor calibration coefficient b.
timeout (double, default: 0.0)
  • Time it takes for the robot to stop if no messages arrive, 0.0 means the robot never stops.
port (string, default: /dev/ttyUSB0)
  • The serial port where the LSE miniQ can be found.
baudrate (int, default: 57600)
  • The serial port baud rate.

Tutorials

All the LSE miniQ tutorials can be found on the lse_miniq_robot stack.

Wiki: lse_miniq_driver (last edited 2012-11-02 17:32:21 by Gonçalo Cabrita)