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mrl_robots: mrl_robots_2dnav | mrl_robots_description | mrl_robots_drivers | mrl_robots_sensors | mrl_robots_teleop

Package Summary

Documented

Drivers to control the StingBot and Traxbot robots in ROS. Developed at ISR, University of Coimbra

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Description

ROS Drivers for the Stingbot and Traxbot Robots, developed at MRL-ISR-UC.
Note: This package depends on cereal_port from the serial_communication stack.

ROS driver


Nodes: stingbot_node / traxbot_node

Similar Arduino-based drivers for the Stingbot and Traxbot robots. The difference between the two nodes resides in robot specific parameters.

Usage

rosrun mrl_robots_drivers stingbot_node [serial_port]

rosrun mrl_robots_drivers traxbot_node [serial_port]

The optional parameter serial_port defines the serial port to communicate with the Arduino Board (Default: /dev/ttyACM0).

Subscribed topics

cmd_vel (geometry_msgs/Twist)

  • Velocity commands to differentially drive the robot.

Published Topics

odom (nav_msgs/Odometry)

  • Odometry data from the robot.

xbee (std_msgs/String)

  • Coming soon...

sonars (std_msgs/Float32MultiArray)

  • Coming soon...

tf transforms provided

odombase_link

  • Transform from odometric origin to robot base.

Wiki: mrl_robots_drivers (last edited 2013-02-09 03:30:29 by DavidPortugal)