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Using package of roch_base
Description: How to use package of roch_base in RochTutorial Level: BEGINNER
Next Tutorial: Using package of roch_description
This tutorial assumes that you have a Roch and under these tutorials will run on Roch, also roch, roch_simulator and roch_robot you have installed.
Roch_node
In roch_base package has a most important node named roch_node, which used by minimal.launch in roch_bringup for communication with MCU for send or receive command.
And in this package, we provide a launch file for testing communication using following command:
roslaunch roch_base base.launch
If every thing normal, you can get output message in terminal: [twist_marker_server] Initialized.
Demos
In this package, we also offer some demos for testing simple command alone, such as testing imu data, checking encoder data, know platform information, get rangefinder and also what's speed of Roch now.
Test demo
For how to use executable file test_encoder, we can follow under steps:
- 1. Power on your Roch, and use USB cable Roch and PC.
2. Make sure roscore has running.
roscore
- 3. Run test node.
rosrun roch_base test_encoder
- 4. Run keyboard control launch.
roslaunch roch_teleop keyboard_teleop.launch
And now you can get output message like this:
encoder[0].distance.x:** ,encoder[1].distance.x:** .
For another four demos you can follow above steps for testing whether Roch running fine or not.
