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Overview

This package allows the use of Erratic mobile base by Videre Design within ROS.

Nodes

erratic_player

A wrapper ROS node around an Erratic driver found in player project.

Subscribed Topics

cmd_vel (geometry_msgs/Twist)

• Velocity commands to drive the robot.

cmd_vision_tilt (std_msgs/Float64)

• Angle command to the vision tilt servo actuator. Only enabled when enable_vision_pan_tilt parameter is set to true.

cmd_vision_pan (std_msgs/Float64)

• Angle command to the vision pan servo actuator. Only enabled when enable_vision_pan_tilt parameter is set to true.

cmd_ranger_tilt (std_msgs/Float64)

• Angle command to the ranger tilt servo actuator. Only enabled when enable_ranger_tilt parameter is set to true.

Published Topics

odom (nav_msgs/Odometry)

• Odometry data.

battery_state (erratic_player/BatteryState)

• Battery data.

ir (erratic_player/RangeArray)

• IR sensors range information.

sonar (erratic_player/RangeArray)

• Sonar sensors range information.

Parameters

port_name (string, default: "/dev/ttyUSB0")

• Name of the serial port that the robot is connected to.

odometry_frame_id (string, default: "odom")

• The name of the frame which will be used to send stamped transforms through the TF mechanism.

max_trans_vel (string, default: "0.5")

• Maximum translational velocity.

max_rot_vel (string, default: "100")

• Maximum rotational velocity.

max_rot_vel (string, default: "100")

• Maximum rotational velocity.

trans_acc (string, default: "0")

• Maximum translational acceleration, nonnegative. The value of "0" means use robot's default value.

trans_decel (string, default: trans_acc)

• Maximum translational deceleration, nonpositive. The value of "0" means use robot's default value.

rot_acc (string, default: "0")

• Maximum rotational acceleration, nonnegative. The value of "0" means use robot's default value.

rot_decel (string, default: rot_acc)

• Maximum rotational deceleration, nonpositive. The value of "0" means use robot's default value.

enable_ir (bool, default: false)

• Whether to enable IR sensors.

enable_sonar (bool, default: false)

• Whether to enable Sonar sensors.

enable_vision_pan_tilt (bool, default: false)

• Whether to enable vision pan/tilt servo motors.

enable_ranger_tilt (bool, default: false)

• Whether to enable ranger tilt servo motor.

Tutorials

Links to relevant tutorials