= COPERNICUS =
{{attachment:Copernicus_Header.jpg|:Copernicus_Header|width=750}}

ROS Software Maintainer: [[Botsync|Botsync]] <<BR>>
Website: [[https://botsync.co]] <<BR>>
Branch: melodic-devel

<<TOC(2)>>

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. 

You can find out more details about us at [[https://botsync.co|our website]] or you can drop us an email at contact@botsync.co.

== Software Installation ==
 .The following are instructions on installing Copernicus Software on your devices.
  1. Installing Copernicus Software
   *Download repository for [[https://github.com/botsync/copernicus.git|Copernicus (Physical Robot)]] 
   *Download repository for [[https://github.com/botsync/copernicus_simulation.git|Copernicus_Simulation]]
  The default branch is melodic-devel.
  2. [[/Tutorials/Adding a Source Workspace|Adding a Source Workspace]]

== ROS on Copernicus ==
 .The following are tutorials on how to use Copernicus with the Robot Operating System.
  1. Operating Copernicus in a Simulated Environment
   *[[/Tutorials/Launching a Gazebo Simulation environment|Launching a Gazebo Simulation environment]]
   *[[/Tutorials/Mapping an environment with Copernicus |Mapping an environment with Copernicus ]]
   *[[/Tutorials/Running AMCL with Copernicus |Running AMCL with Copernicus ]]
  2. Operating the physical robot
   *[[/Tutorials/Bringup Copernicus |Launching the Navigation Stack with Copernicus|Launching the Navigation Stack with Copernicus ]]

{{{#!wiki note
The above tutorials assume that you have a basic understanding of the ROS.You can refer to [[https://wiki.ros.org/ROS/Tutorials|ROS Tutorial]] for a ROS refresher.
}}}


== Packages ==
 .The available ROS packages in Copernicus and their purposes are listed below. 
 ||<style="width: 27%">[[https://github.com/botsync/copernicus/tree/melodic-devel/copernicus_base|copernicus_base]]||Bring up Package for Copernicus. Package contains launch files to connect to the robot and run the sensor driver||
 ||[[https://github.com/botsync/copernicus/tree/melodic-devel/copernicus_control|copernicus_control]]||Contains configuration required for ROS control.||
 ||[[https://github.com/botsync/copernicus/tree/melodic-devel/copernicus_description|copernicus_description]]||Contains the URDF files for the robot and the launch files for running Gazebo Simulations and opening RViz visualization.||
 ||[[https://github.com/botsync/copernicus/tree/melodic-devel/copernicus_localization|copernicus_localization]]||Contains configuration for sensor fusion of wheel odometry and IMU data using the robot localization package.||
 ||[[https://github.com/botsync/copernicus/tree/melodic-devel/copernicus_msgs|copernicus_msgs]]||Contains ROS messages specific to Copernicus such as the power board messages, etc.||
 ||[[https://github.com/botsync/copernicus/tree/melodic-devel/copernicus_navigation|copernicus_navigation]]||Contains launch files required for running gmapping, amcl and move_base.||
 ||[[https://github.com/botsync/copernicus/tree/melodic-devel/copernicus_teleoperator|copernicus_teleoperator]]||Contains configuration files and launch files for activating keyboard or joystick teleoperation.||
 ||[[https://github.com/botsync/copernicus/tree/melodic-devel/copernicus_rules|copernicus_rules]]||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 [[/Topics|Copernicus Topics]] for available ROS topics and Sensor Topics.


== Configuration Control ==
 .Copernicus is setup using the teleop_twist_mux package. Refer to below for the command instruction priorities. 
    
 ||<rowstyle="background-color: #D3D3D3;">Command Topic||Priority||
 ||<style="width: 75%">/nav/cmd_vel||50||
 ||/user/cmd_vel||70||
 ||/keyboard/cmd_vel||80||
 ||/joy/cmd_vel||90||
 ||e_stop_status||100||

== Operating Copernicus ==
 .The following are tutorials on how to operate the physical robot.
  1. Booting Copernicus
   *Insert the key into the key switch and turn it clockwise to unlock the robot 
   *Turn on the power switch to power the controllers, on-board PC and sensors 
  2. [[/Tutorials/Setting up your workstation|Setting up your workstation]]
  3. [[/Tutorials/Enabling and disabling autostart|Enabling and disabling autostart ]]


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