Difference between revisions of "ROS"
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==Installation== | ==Installation== | ||
Your Robotino needs to be updated to at least image >= 4.0.0 from [https://doc.openrobotino.org/download/tinycore/robotino4image/ here]. Make sure you updated to the latest [https://doc.openrobotino.org/ChangeLog/daemons.txt robotino-daemons] package. | Your Robotino needs to be updated to at least image >= 4.0.0 from [https://doc.openrobotino.org/download/tinycore/robotino4image/ here]. Make sure you updated to the latest [https://doc.openrobotino.org/ChangeLog/daemons.txt robotino-daemons] package. | ||
+ | |||
+ | Download the latest [https://doc.openrobotino.org/ROS robotino_rest_node] and integrate it into your catkin workspace. | ||
==Test== | ==Test== | ||
===Drive Robotino=== | ===Drive Robotino=== | ||
+ | Start the omnidrive script | ||
+ | <pre> | ||
+ | rosrun robotino_rest_node omnidrive.py | ||
+ | </pre> | ||
+ | The omnidrive script listens to the /cmd_vel topic. If no parameter is given the script sends received cmd_vel data to 127.0.0.1. If your ROS runs on a different machine than Robotino you need to specify Robotino's IP address. | ||
+ | <pre> | ||
+ | rosrun robotino_rest_node omnidrive.py ROBOTINO_IP_ADDRESS | ||
+ | </pre> | ||
+ | Publish to /cmd_vel to move Robotino forward with 0.1m/s. linear x,y is foward,sideward velocity and angular.z is rotational verlocity. | ||
<pre> | <pre> | ||
rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.1, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}' | rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.1, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}' |
Revision as of 12:12, 1 March 2019
Contents
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's REST-API to ROS. |
Package linksrobotino_rest_node - Contains the robotino_rest_node. |
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Installation
Your Robotino needs to be updated to at least image >= 4.0.0 from here. Make sure you updated to the latest robotino-daemons package.
Download the latest robotino_rest_node and integrate it into your catkin workspace.
Test
Drive Robotino
Start the omnidrive script
rosrun robotino_rest_node omnidrive.py
The omnidrive script listens to the /cmd_vel topic. If no parameter is given the script sends received cmd_vel data to 127.0.0.1. If your ROS runs on a different machine than Robotino you need to specify Robotino's IP address.
rosrun robotino_rest_node omnidrive.py ROBOTINO_IP_ADDRESS
Publish to /cmd_vel to move Robotino forward with 0.1m/s. linear x,y is foward,sideward velocity and angular.z is rotational verlocity.
rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.1, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}'
Hardware
What you really need to use ROS in a meaningful way is a laser rangefinder for Robotino.
Documents
RWTH Aachen: Lab Course Model-Based Robotics Software Development Implementation Notes