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

~cmd_accel (std_msgs/Float32)

• Translational acceleration

~cmd_sonar_power (std_msgs/Bool)

• Turns the sonar on and off

~cmd_brake_power (std_msgs/Bool)

• Turns the brake on and off

Published Topics

~sonar_cloud_base (sensor_msgs/PointCloud)

• Point Cloud from Base. Uses base reference frame.

~sonar_cloud_body (sensor_msgs/PointCloud)

• Point Cloud from Body. Uses body reference frame.

~sonar_power (std_msgs/Bool)

• Broadcasts whether sonar is on

~brake_power (std_msgs/Bool)

• Broadcasts whether brake is on

~voltage (std_msgs/Float32)

• Current battery voltage

~odom (nav_msgs/Odometry)

• Current odometry

~plugged_in (std_msgs/Bool)

• 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

~rate (Integer, default: 10)

• Main loop rate in hertz