ROS

From RobotinoWiki
Revision as of 11:07, 1 March 2019 by Verbeek (talk | contribs)

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_rest_node - Contains the robotino_rest_node.

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.

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