ROS

From RobotinoWiki
Revision as of 10:51, 8 December 2011 by Indorewala (talk | contribs) (RobotinoAPI2 and ROS)

Attention: New ROS stack for Robotino will be available soon which reflects the new Robotino API2

Introduction

The Robot Operating System ROS hosted and maintained by Willow Garage is a free meta operating system for mobile robots. This page describes the adaption of Robotino C++ API to ROS. {{#ev:youtube|N7Gbe7vnufM}}

Installation

You will need a Linux (preferable Ubuntu) PC in order to run ROS. As we need much computational power for SLAM and especially path planning Robotinos PC104 is overstrained. So we use a laptop or desktop PC communicating to Robotino via wireless.

Install ROS. How to do this read the ROS installation instructions.

Install the latest openrobotino1 package and install it (you do not need to set symlinks nor do you need to install the examples).

Get the Robotino ROS drivers:

svn co http://svn.openrobotino.org/trunk/ros robotino-ros

Put the robotino-ros into the ROS_PACKAGE_PATH. If everything is setup correctly you can run

rosmake robotino_drivers

Hardware

What you really need to use ROS in a meaningful way is a laser rangefinder for Robotino.

RobotinoAPI2 and ROS

The ROS interface for Robotino with the new RobotinoAPI2 is now available.

The robotino ROS stack

Sources

Check out the robotino stack from the following repository.

svn co http://svn.openrobotino.org/ros/trunk/robotino/ robotino

Topics with Message and Service types

The following topics are created when the robotino_node is launched from the robotino_node package.

  1. bumper
  2. distance_sensors
  3. laser_scan
  4. odometry
  5. odometry_flat
  6. power_readings