<> <> ROS driver for the [[Robots/Innok-Heros|Innok Heros]] robot plattform. {{{{#!wiki version hydro and indigo and jade and kinetic and lunar == Bring up your Innok Heros == === Turn on Your Robot === Press the Power button on the Innok Heros. === Start the ROS Driver === Start the ROS driver with {{{ roslaunch innok_heros_driver heros_base.launch }}} Make sure that the `host` parameter in `heros_base.launch` is set to the correct address of your Heros (default host is 192.168.1.213). == Nodes == {{{ #!clearsilver CS/NodeAPI node.1 { name = heros_driver desc = driver for the Innok Heros robot platform pub { 0.name= odom 0.type= nav_msgs/Odometry 0.desc= odometry data of the robot } sub { 1.name= cmd_vel 1.type= geometry_msgs/Twist 1.desc= velocity commands for the platform } param { 0.name = host 0.type = string 0.desc = host address of the robot 0.default = "192.168.1.213" } } prov_tf{ 0{ from = odom to = base_link desc = the current estimate of the robot's pose within the odom frame } } }}} }}}} ## AUTOGENERATED DON'T DELETE ## CategoryPackage