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Only released in EOL distros:   hydro

Documentation

To start the WheeledRobin driver node use the launch files in wheeled_robin_bringup.

Nodes

wheeled_robin_node

ROS bindings for the WheeledRobin driver (wheeled_robin_driver). This is based on create_node driver by OSRF.

Subscribed Topics

cmd_vel (geometry_msgs/Twist)

• Desired velocity for WheeledRobin (x, theta)

Published Topics

odom (nav_msgs/Odometry)

• Odometry of WheeledRobin.

joint_states (sensor_msgs/JointState)

• Joint State for the left and right wheel.

~sensor_state (wheeled_robin_node/WheeledRobinSensorState)

• State of the WheeledRobin sensors.

diagnostics (diagnostic_msgs/DiagnosticArray)

• Diagnostic information for WheeledRobin.

Services

~set_operation_mode (wheeled_robin_node/SetWheeledRobinMode)

• Sets the operation mode of WheeledRobin.

~set_digital_outputs (wheeled_robin_node/SetDigitalOutputs)

• Sets the digital outputs of WheeledRobin.

Parameters

~update_rate (double, default: 100.0)

• Polling rate for the WheeledRobin. Choices: 5 - 1000 Hz

~drive_mode (string, default: 'drive')

• The possible drive modes. While 'drive' takes a geometry_msgs/Twist message and sends it directly to the robot, 'direct_drive' takes a geometry_msgs/Twist message, calculates wheels speeds and sends them to the robot. Choices: 'drive' or 'direct_drive'

~cmd_vel_timeout (double, default: 0.6)

• How long to wait before timing out on a velocity command. Choices: 0.0 - 1.0

~odom_angular_scale_correction (double, default: 1.0)

• A correction applied to the computation of the rotation in the odometry. Choices: 0.0 - 3.0

~odom_linear_scale_correction (double, default: 1.0)

• A correction applied to the computation of the translation in odometry. Choices: 0.0 - 3.0

~min_abs_yaw_vel (double, default: None)

• Minimum angular velocity of the WheeledRobin. Choices: 0.0 - 3.0

~max_abs_yaw_vel (double, default: None)

• Maximum angular velocity of the WheeledRobin. Choices: 0.0 - 3.0

~port (string, default: /dev/ttyUSB0)

• Serial port where WheeledRobin is connected to.

~publish_tf (bool, default: False)

• Publish Transformations.

~odom_frame (string, default: odom)

• Name of the odom frame (used while publishing TF).

~base_footprint_frame (string, default: base_footprint)

• Name of the base_footprint frame (used while publishing TF).

~base_link_frame (string, default: base_link)

• Name of the base_link frame (used while publishing TF).

~operation_mode (integer, default: 3)

• Operation mode of WheeledRobin used while driving. Choices: 2 or 3

Provided tf Transforms

odom → base_footprint

• odom frame is set with '~odom_frame' parameter, base_footprint frame is set with '~base_footprint_frame' parameter. Depends on the odometry of WheeledRobin

base_footprint → base_link

• base_footprint frame is set with '~base_footprint_fra,e' parameter, base_link frame is set with '~base_link_frame' parameter. Depends on the pitch angle of WheeledRobin