B21
The B21 is a robot which uses the RFlex driver.
Features
- Ring of 24 sonar sensors on its base
- Ring of 24 sonar sensors on its body
- Ring of 24 IR sensors on its body
- 2 bumps sensors per panel
- 12 on body, 16 on base
B21
Controls B21 type robots. Awesomely.Subscribed Topics
~cmd_vel (geometry_msgs/Twist)- Motor Commands
- Translational acceleration
- Turns the sonar on and off
- Turns the brake on and off
Published Topics
~sonar_cloud_base (sensor_msgs/PointCloud)- Point Cloud from Base. Uses base reference frame.
- Point Cloud from Body. Uses body reference frame.
- Broadcasts whether sonar is on
- Broadcasts whether brake is on
- Current battery voltage
- Current odometry
- Whether or not the robot's battery is plugged in
Parameters
~port (String, default: /dev/ttyUSB0)- Filename of port that the robot is connected on
- Main loop rate in hertz