Difference between revisions of "ROS"

From RobotinoWiki
(Hardware)
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|[[Image:Robotino_ros_icon_64.png]]
 
|[[Image:Robotino_ros_icon_64.png]]
|The [http://www.ros.org/wiki/ Robot Operating System ROS] hosted and maintained by [http://www.willowgarage.com/ Willow Garage] is a free meta operating system for mobile robots. This page describes the adaption of Robotino C++ API2 to ROS.
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|The [http://www.ros.org/wiki/ Robot Operating System ROS] hosted and maintained by [http://www.willowgarage.com/ Willow Garage] is a free meta operating system for mobile robots. This page describes the adaption of Robotino's REST-API to ROS.
 
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=== Package links ===
 
=== Package links ===
 
[http://www.ros.org/wiki/robotino robotino] - Contains the essential packages for communicating with Robotino.
 
[http://www.ros.org/wiki/robotino robotino] - Contains the essential packages for communicating with Robotino.
 
[http://www.ros.org/wiki/robotino_grappler robotino_grappler] - If you own a [[Grappler]] then this stack provides packages to manipulate it with ROS.
 
 
[http://www.ros.org/wiki/robotino_kinect robotino_kinect] - If you own a [[Kinect]] sensor then this stack provides packages to explore the possibilities of Robotino and Kinect in ROS.
 
 
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{{#ev:youtube|N7Gbe7vnufM}}
 
  
 
==Installation==
 
==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.
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Your Robotino needs to be updated to at least image >= 4.0.0 from [https://doc.openrobotino.org/download/tinycore/robotino4image/ here].
 
 
Install ROS. How to do this read [http://www.ros.org/wiki/ROS/Installation the ROS installation instructions].
 
 
 
Install [[API2]] packages on Robotino.
 
 
 
Get the Robotino ROS drivers:
 
 
 
<code>svn co http://svn.openrobotino.org/robotino-ros-pkg/trunk/ robotino-ros-pkg</code>
 
 
 
'''Hydro (Catkin)'''
 
 
 
<code>svn co http://svn.openrobotino.org/robotino-ros-pkg/trunk/catkin-pkg/ robotino-ros-pkg</code>
 
NOTE: In the hydro version Kinect support from within robotino_node has be removed. For Kinect usage please use openni packages externally.
 
 
 
Put the robotino-ros-pkg into the ROS_PACKAGE_PATH. If everything is setup correctly you can run
 
 
 
<code>For Fuerte: rosmake robotino</code>
 
  
<code>For Hydro (after creating the appropriate workspace and checking out the code): catkin_make</code>
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==Test==
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===Drive Robotino===
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<pre>
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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}}'
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</pre>
  
 
==Hardware==
 
==Hardware==

Revision as of 10:59, 1 March 2019

Introduction

Robotino ros icon 64.png 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 links

robotino - Contains the essential packages for communicating with Robotino.

Installation

Your Robotino needs to be updated to at least image >= 4.0.0 from here.

Test

Drive Robotino

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