roch_robot: roch_base | roch_capabilities | roch_control | roch_description | roch_ftdi | roch_msgs | roch_safety_controller | roch_sensorpc

Package Summary

Sawyer Roch robot driver

• Maintainer status: developed
• Maintainer: Carl <wzhang AT softrobtech DOT com>
• Author: Mike Purvis <mpurvis AT clearpathrobotics DOT com>, Paul Bovbel <pbovbel AT clearpathrobotics DOT com>, Carl <wzhang AT softrobtech DOT com>
• License: BSD
• Bug / feature tracker: https://github.com/SawYer-Robotics/roch_robot/issues
• Source: git https://github.com/SawYer-Robotics/roch_robot.git (branch: indigo)

roch_node

Drivers and communication with ROS and Roch MCU node. Contains ros_control integration via diff_drive_controller, imu_sensor_controller and joint_state_controller.

Subscribed Topics

roch_velocity_controller/cmd_vel (geometry_msgs/Twist)

• Twist velocity command for Roch, muxed in roch_control. External clients should publish to bare cmd_vel topic.

Published Topics

roch_velocity_controller/odom (nav_msgs/Odometry)

• Odometry information from Roch MCU.

status (roch_msgs/RochStatus)

• Status information from Roch MCU and roch_node. Also exposed over standard diagnostics interface.

debug/raw_data_stream (sensor_msgs/Imu)

• Debug data for raw Imu sensor, Just for Debugging.

sensor/imu_data (sensor_msgs/Imu)

• Imu data processed, used by roch_node.

debug/raw_data_command (std_msgs/String)

• Raw command for communication with Roch MCU, for Debugging.

events/cliff (roch_msgs/CliffEvent)

• Cliff sensor data for Roch and used by roch_node, roch_sensorpc and roch_safety_controller.

events/psd (roch_msgs/PSDEvent)

• PSD sensor data for Roch and used by roch_node, roch_sensorpc and roch_safety_controller.

events/ult (roch_msgs/UltEvent)

• Ultrasonic sensor data for Roch and used by roch_node, roch_sensorpc and roch_safety_controller.

core_sensors (roch_msgs/SensorState)

• All sensor' state of Roch, used by roch_node and roch_sensorpc.

Parameters

~control_frequency (double, default: 10.0)

• Frequency at which Roch MCU is controlled for velocity and polled for odometry information.

~diagnostic_frequency (double, default: 10.0)

• Frequency at which Roch is polled for diagnostic and status information.

~wheel_diameter (double, default: 0.095)

• Diameter for Roch wheel, in meters.

~max_accel (double, default: 5.0)

• Max accelerated velocity for Roch.

~max_speed (double, default: 0.45)

• Max speed for Roch.

~polling_timeout_ (double, default: 20)

• Command timeout for Roch communication with MCU, in Hz.

~cliff_height (double, default: 0.1)

• How tall is safety for Roch with cliff sensor can publish, in meters.

~psd_length (double, default: 0.1)

• How tall is safety for Roch with psd sensor can publish, in meters.

~port (string, default: /dev/roch)

• Communication port with Roch on PC.

~imu_link_frame (string, default: imu_link)

• Imu frame link for Roch description used for sending imu data.

  rosrun roch_base test_<name_you_want>