Botsync Copernicus is a rugged and easy to integrate ground vehicle designed to support your prototyping and research needs. Copernicus supports the Robot Operating System (ROS) out of the box and provides access to motion commands through a serial interface.
The system has been designed to support multiple third part sensors and manipulators. The support covers the software as well as the electromechanical integration of the sensors that you need, such that your effort in setting up the system that you need for your research efforts is as minimal as possible.
- The following are instructions on installing Copernicus Software on your devices.
ROS on Copernicus
- The following are tutorials on how to use Copernicus with the Robot Operating System.
The above tutorials assume that you have a basic understanding of the ROS.You can refer to ROS Tutorial for a ROS refresher.
- The available ROS packages in Copernicus and their purposes are listed below.
Bring up Package for Copernicus. Package contains launch files to connect to the robot and run the sensor driver
Contains configuration required for ROS control.
Contains the URDF files for the robot and the launch files for running Gazebo Simulations and opening RViz visualization.
Contains configuration for sensor fusion of wheel odometry and IMU data using the robot localization package.
Contains ROS messages specific to Copernicus such as the power board messages, etc.
Contains launch files required for running gmapping, amcl and move_base.
Contains configuration files and launch files for activating keyboard or joystick teleoperation.
Contains scripts for detecting sensors with a USB interface, connected to the PC, and making them identifiable by the PC via specific names.
Please refer to Copernicus Topics for available ROS topics and Sensor Topics.
- Copernicus is setup using the teleop_twist_mux package. Refer to below for the command instruction priorities.
- The following are tutorials on how to operate the physical robot.