ISRWiki - User contributions [en]

QuadSoftware

2013-10-14T15:59:34Z

Henrique:

[[Image:MiniQuad_small.JPG|thumb|Quadrotor Platform]]

== About ==

This page presents instructions and software for ISR Quadrotors. This vehicle includes a Pandaboard Computer that is not recommended to do heavy computing, and so it is only appropriate to run the ROS drivers for the hardware (motors and sensors). So the suggested architecture is to use an external laptop for the main software, connecting via Wi-Fi to the quadrotor. The driver nodes can be remotely launched using roslaunch.

== Sensors ==

* Laser Range Finder: [http://www.hokuyo-aut.jp/02sensor/07scanner/urg_04lx_ug01.html Hokuyo URG-04LX-UG01]
* Optical Flow: [https://pixhawk.ethz.ch/px4/modules/px4flow PX4Flow Smart Camera]
* IMU:
** Accelerometer: [http://www.analog.com/static/imported-files/data_sheets/ADXL335.pdf ADXL335]
** Magnetometer: [http://www.honeywell.com/sites/servlet/com.merx.npoint.servlets.DocumentServlet?docid=DA9ACFE3C-F7C0-9998-6085-D9D84941499D HMC5843]
** Gyroscopes: [http://www.analog.com/static/imported-files/data_sheets/ADXRS620.pdf ADXRS620]

== Software ==

=== Prerequisites ===
'''ROS Fuerte''' with the following packages:
* laser_drivers
* mav_tools
* scan_tools
* hector_common

=== ROS Source Code ===
The source code can be found here: [[Media:quad_ros.tar.gz|quad_ros.tar.gz]].

== Usage ==

=== Packages ===
* quad_drivers -- contains the main drivers (to run on Pandaboard).
* quad_launch -- contains some launch files.

=== Nodes ===
* imu_parser -- Reads data from IMU.
* quad_link -- Establish connection between vehicle and laptop.
* quad_status -- Reads some important data from vehicle.
* laser_height -- Calculate the height of the quadrotor with LRF.

=== Published topics ===
* /scanCenter (sensor_msgs/LaserScan) -- Laser Range Finder measurements.
* /imu/data (sensor_msgs/Imu) -- IMU data.
* /quad_height/height_to_base (mav_msgs/Height) -- Height of quadrotor (in m).
* /quad_status/status (quad_status/Status) -- voltage (in V), RC status, Motors ON/OFF, ExternalCtrl ON/OFF and RunTime.

== Examples ==
An example of a launch file to launch all quad nodes is on package quad_launch.

NOTE: you need to modify these launch file in order to launch the nodes remotely.

QuadSoftware

2013-10-14T15:59:19Z

Henrique:

[[Image:MiniQuad_small.JPG|thumb|Quadrotor Platform]]

== About ==

This page presents instructions and software for ISR Quadrotors. This vehicle includes a Pandaboard Computer that is not recommended to do heavy computing, and so it is only appropriate to run the ROS drivers for the hardware (motors and sensors). So the suggested architecture is to use an external laptop for the main software, connecting via Wi-Fi to the quadrotor. The driver nodes can be remotely launched using roslaunch.

== Sensors ==

* Laser Range Finder: [http://www.hokuyo-aut.jp/02sensor/07scanner/urg_04lx_ug01.html Hokuyo URG-04LX-UG01]
* Optical Flow: [https://pixhawk.ethz.ch/px4/modules/px4flow PX4Flow Smart Camera]
* IMU:
** Accelerometer: [http://www.analog.com/static/imported-files/data_sheets/ADXL335.pdf ADXL335]
** Magnetometer: [http://www.honeywell.com/sites/servlet/com.merx.npoint.servlets.DocumentServlet?docid=DA9ACFE3C-F7C0-9998-6085-D9D84941499D HMC5843]
** Gyroscope: [http://www.analog.com/static/imported-files/data_sheets/ADXRS620.pdf ADXRS620]

== Software ==

=== Prerequisites ===
'''ROS Fuerte''' with the following packages:
* laser_drivers
* mav_tools
* scan_tools
* hector_common

=== ROS Source Code ===
The source code can be found here: [[Media:quad_ros.tar.gz|quad_ros.tar.gz]].

== Usage ==

=== Packages ===
* quad_drivers -- contains the main drivers (to run on Pandaboard).
* quad_launch -- contains some launch files.

=== Nodes ===
* imu_parser -- Reads data from IMU.
* quad_link -- Establish connection between vehicle and laptop.
* quad_status -- Reads some important data from vehicle.
* laser_height -- Calculate the height of the quadrotor with LRF.

=== Published topics ===
* /scanCenter (sensor_msgs/LaserScan) -- Laser Range Finder measurements.
* /imu/data (sensor_msgs/Imu) -- IMU data.
* /quad_height/height_to_base (mav_msgs/Height) -- Height of quadrotor (in m).
* /quad_status/status (quad_status/Status) -- voltage (in V), RC status, Motors ON/OFF, ExternalCtrl ON/OFF and RunTime.

== Examples ==
An example of a launch file to launch all quad nodes is on package quad_launch.

NOTE: you need to modify these launch file in order to launch the nodes remotely.

QuadSoftware

2013-10-14T15:50:08Z

Henrique:

[[Image:MiniQuad_small.JPG|thumb|Quadrotor Platform]]

== About ==

This page presents instructions and software for ISR Quadrotors. This vehicle includes a Pandaboard Computer that is not recommended to do heavy computing, and so it is only appropriate to run the ROS drivers for the hardware (motors and sensors). So the suggested architecture is to use an external laptop for the main software, connecting via Wi-Fi to the quadrotor. The driver nodes can be remotely launched using roslaunch.

== Sensors ==
[http://www.idmind.pt IdMind]
* Laser Range Finder: [http://www.hokuyo-aut.jp/02sensor/07scanner/urg_04lx_ug01.html Hokuyo URG-04LX-UG01]

== Software ==

=== Prerequisites ===
'''ROS Fuerte''' with the following packages:
* laser_drivers
* mav_tools
* scan_tools
* hector_common

=== ROS Source Code ===
The source code can be found here: [[Media:quad_ros.tar.gz|quad_ros.tar.gz]].

== Usage ==

=== Packages ===
* quad_drivers -- contains the main drivers (to run on Pandaboard).
* quad_launch -- contains some launch files.

=== Nodes ===
* imu_parser -- Reads data from IMU.
* quad_link -- Establish connection between vehicle and laptop.
* quad_status -- Reads some important data from vehicle.
* laser_height -- Calculate the height of the quadrotor with LRF.

=== Published topics ===
* /scanCenter (sensor_msgs/LaserScan) -- Laser Range Finder measurements.
* /imu/data (sensor_msgs/Imu) -- IMU data.
* /quad_height/height_to_base (mav_msgs/Height) -- Height of quadrotor (in m).
* /quad_status/status (quad_status/Status) -- voltage (in V), RC status, Motors ON/OFF, ExternalCtrl ON/OFF and RunTime.

== Examples ==
An example of a launch file to launch all quad nodes is on package quad_launch.

NOTE: you need to modify these launch file in order to launch the nodes remotely.

QuadSoftware

2013-10-14T15:48:16Z

Henrique:

[[Image:MiniQuad_small.JPG|thumb|Quadrotor Platform]]

== About ==

This page presents instructions and software for ISR Quadrotors. This vehicle includes a Pandaboard Computer that is not recommended to do heavy computing, and so it is only appropriate to run the ROS drivers for the hardware (motors and sensors). So the suggested architecture is to use an external laptop for the main software, connecting via Wi-Fi to the quadrotor. The driver nodes can be remotely launched using roslaunch.

== Sensors ==

* Laser Range Finder: "Hokuyo URG-04LX-UG01":http://www.hokuyo-aut.jp/02sensor/07scanner/urg_04lx_ug01.html

== Software ==

=== Prerequisites ===
'''ROS Fuerte''' with the following packages:
* laser_drivers
* mav_tools
* scan_tools
* hector_common

=== ROS Source Code ===
The source code can be found here: [[Media:quad_ros.tar.gz|quad_ros.tar.gz]].

== Usage ==

=== Packages ===
* quad_drivers -- contains the main drivers (to run on Pandaboard).
* quad_launch -- contains some launch files.

=== Nodes ===
* imu_parser -- Reads data from IMU.
* quad_link -- Establish connection between vehicle and laptop.
* quad_status -- Reads some important data from vehicle.
* laser_height -- Calculate the height of the quadrotor with LRF.

=== Published topics ===
* /scanCenter (sensor_msgs/LaserScan) -- Laser Range Finder measurements.
* /imu/data (sensor_msgs/Imu) -- IMU data.
* /quad_height/height_to_base (mav_msgs/Height) -- Height of quadrotor (in m).
* /quad_status/status (quad_status/Status) -- voltage (in V), RC status, Motors ON/OFF, ExternalCtrl ON/OFF and RunTime.

== Examples ==
An example of a launch file to launch all quad nodes is on package quad_launch.

NOTE: you need to modify these launch file in order to launch the nodes remotely.

QuadSoftware

2013-10-04T16:28:42Z

Henrique:

[[Image:MiniQuad_small.JPG|thumb|Quadrotor Platform]]

== About ==

This page presents instructions and software for ISR Quadrotors. This vehicle includes a Pandaboard Computer that is not recommended to do heavy computing, and so it is only appropriate to run the ROS drivers for the hardware (motors and sensors). So the suggested architecture is to use an external laptop for the main software, connecting via Wi-Fi to the quadrotor. The driver nodes can be remotely launched using roslaunch.

== Software ==

=== Prerequisites ===
'''ROS Fuerte''' with the following packages:
* laser_drivers
* mav_tools
* scan_tools
* hector_common

=== ROS Source Code ===
The source code can be found here: [[Media:quad_ros.tar.gz|quad_ros.tar.gz]].

== Usage ==

=== Packages ===
* quad_drivers -- contains the main drivers (to run on Pandaboard).
* quad_launch -- contains some launch files.

=== Nodes ===
* imu_parser -- Reads data from IMU.
* quad_link -- Establish connection between vehicle and laptop.
* quad_status -- Reads some important data from vehicle.
* laser_height -- Calculate the height of the quadrotor with LRF.

=== Published topics ===
* /scanCenter (sensor_msgs/LaserScan) -- Laser Range Finder measurements.
* /imu/data (sensor_msgs/Imu) -- IMU data.
* /quad_height/height_to_base (mav_msgs/Height) -- Height of quadrotor (in m).
* /quad_status/status (quad_status/Status) -- voltage (in V), RC status, Motors ON/OFF, ExternalCtrl ON/OFF and RunTime.

== Examples ==
An example of a launch file to launch all quad nodes is on package quad_launch.

NOTE: you need to modify these launch file in order to launch the nodes remotely.

QuadSoftware

2013-10-04T16:23:47Z

Henrique:

QuadSoftware

2013-10-04T16:23:09Z

Henrique:

File:Quad ros.tar.gz

2013-10-04T16:21:36Z

Henrique:

QuadSoftware

2013-10-02T13:46:10Z

Henrique:

QuadSoftware

2013-10-02T13:33:21Z

Henrique:

QuadSoftware

2013-10-02T13:13:50Z

Henrique:

QuadSoftware

2013-10-01T16:46:23Z

Henrique:

QuadSoftware

2013-10-01T16:45:25Z

Henrique:

QuadSoftware

2013-10-01T16:43:05Z

Henrique:

QuadSoftware

2013-10-01T16:31:51Z

Henrique:

Autonomous Systems resources

2013-10-01T14:43:46Z

Henrique:

== Robots ==

{| border=1
| [[Image:Icon isr-cobot.png|100px]] || ISR-CoBot
* [[ScoutSoftware|instructions and software]]
|-
| [[Image:Icon magabot.png|100px]] || Magabot
* [http://magabot.cc/ product website]
* [https://bitbucket.org/rventura73/magabot-arduino-ros-pkg drivers for ROS]
|-
| [[Image:Icon pioneer3DX.png|100px]] || Pioneer 3DX
* [http://www.mobilerobots.com/researchrobots/pioneerp3dx.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
|-
| [[Image:MiniQuad_small.JPG|100px]] || UAVision Quadrotor
* [[QuadSoftware|Instructions and Software]]
|-
| [[Image:Icon raposa-ng.png|100px]] || [[RAPOSA-NG]]
* [[RaposaNgSoftware|instructions and software]]
|-
| [[Image:Icon rovio.png|100px]] || WoWee Rovio
* [http://www.wowwee.com/en/products/tech/telepresence/rovio/rovio product website]
* [http://wiki.ros.org/rovio drivers for ROS]
|-
| [[Image:Icon scout.png|100px]] || NomadicScout (customized)
* [[ScoutSoftware|instructions and software]]
|-
| [[Image:Icon socrob.png|100px]] || SocRob omni
* [[SocrobOmniSoftware|instructions and software]]
|-
|}

== Bibliography for projects ==

=== on Kalman Filter ===
* [[Media:Kalman.pdf|Kalman and Extended Kalman Filters: Concept, Derivation and Properties - Maria Isabel Ribeiro (2004)]]

=== on particle filters ===
* [[Media:Arulampalam,02.pdf|A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking - Arulampalam, Maskell, Gordon, Clapp (2002)]]

=== on mapping ===
* [[Media:Elfes87.pdf|Sonar-Based Real-World Mapping and Navigation - Alberto Elfes (1987)]]
* [[Media:Elfes occup grids.pdf|Using Occupancy Grids for Mobile Robot Perception and Navigation - Alberto Elfes (1989)]]
* [[Media:Thrun03.pdf|Learning Occupancy Grid Maps with Forward Sensor Models - Thrun (2003)]]

=== on Monte Carlo localization (MCL) ===
* [[Media:Fox01.pdf|Particle Filters for Mobile Robot Localization - Fox, Thrun, Burgard, Dellaert (2001)]]
* [[Media:Rekleitis02.pdf|Particle Filter Tutorial for Mobile Robots - Ioannis Rekleiris (2002)]]

=== on robust Monte Carlo localization ===
* [[Media:Mcl-mixture-ai-2001.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on simultaneous localization and mapping (SLAM) ===
* [[Media:Durrant-Whyte06.pdf|Simultaneous Localization and Mapping: Part I - Durrant-Whyte, Bailey (2006)]]
* [[Media:Bayley06.pdf|Simultaneous Localisation and Mapping (SLAM): Part II State of the Art - Bailey, Durrant-Whyte (2006)]]
* [[Media:Montemerlo02.pdf|FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem - Montemerlo, Thrun, Koller, Wegbreit (2002)]]
* [[Media:Montemerlo03.pdf|Simultaneous Localization and Mapping with Unknown Data Association Using FastSLAM - Montemerlo, Thrun (2003)]]

=== on cooperative teammate localization ===
* [http://welcome.isr.ist.utl.pt/img/pdfs/1485_FinalVersion.pdf Optimal Guidance and Decentralised State Estimation Applied to a Formation Flying Demonstration Mission in GTO - D. Dumitriu et al (2007)]]
* [[Media:TRO_08-2D-distances.pdf|Robot-to-Robot Relative Pose Estimation from Range Measurements - Zhou and Roumeliotis (2008)]]
* [[Media:Multi-mcl-journal-00-large.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on cooperative perception and localization using shared objects ===
* [[Media:JSantostese_final.pdf|Multi-Robot Cooperative Object Localization Decentralized Bayesian Approach - J. Santos (2009)]]

=== on multiagent pollutant monitoring ===
* [[Media:Seco98a.pdf|A Society of Agents in Environmental Monitoring - Seco, Pinto-Ferreira, Correia (1998)]]
* [[Media:Seco98b.pdf|Multiagents and Pollutant Monitoring - Seco, Pinto-Ferreira, Correia (1998)]]

== Software ==

=== for IdMind modified Nomadic Scout robots ===
* ROS drivers: [[Media:Ros scout-1.0.tgz|ros_scout-1.0.tgz]]

=== for Pioneer P3-DX robots ===
* Operations manual: [[Media:P3OpMan3.pdf|P3OpMan3.pdf]]
* MATLAB interface code: check [[Robotics lab resources#Interface with MATLAB 2]]
* Python interface code: [[Media:Pioneer.rar|Pioneer.rar]]
* Hokuyo Laser URG-04LX-UG01 Matlab code and documentation (thanks to students Miguel Vaz and Henrique Silva): [[Media:Hokuyo_Laser_InterfacePioneer_Matlab.zip|Hokuyo_Laser_InterfacePioneer_Matlab.zip]]

=== maps ===
* Scanned copy of a map of the 5th floor at the North Tower: [[Media:Piso5.pdf|piso5.pdf]] (revised: better resolution)

=== demo software ===
* Bayes filtering demo in 1D -- [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py] -- '''UPDATE''': now includes Particle filtering!

=== general purpose software ===
* ROS: Robot Operating System http://www.ros.org

Autonomous Systems resources

2013-10-01T14:43:30Z

Henrique:

== Robots ==

{| border=1
| [[Image:Icon isr-cobot.png|100px]] || ISR-CoBot
* [[ScoutSoftware|instructions and software]]
|-
| [[Image:Icon magabot.png|100px]] || Magabot
* [http://magabot.cc/ product website]
* [https://bitbucket.org/rventura73/magabot-arduino-ros-pkg drivers for ROS]
|-
| [[Image:Icon pioneer3DX.png|100px]] || Pioneer 3DX
* [http://www.mobilerobots.com/researchrobots/pioneerp3dx.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
|-
| [[Image:MiniQuad_small.JPG|100px]] || UAVision Quadrotor
* [[QuadSoftware|instructions and software]]
|-
| [[Image:Icon raposa-ng.png|100px]] || [[RAPOSA-NG]]
* [[RaposaNgSoftware|instructions and software]]
|-
| [[Image:Icon rovio.png|100px]] || WoWee Rovio
* [http://www.wowwee.com/en/products/tech/telepresence/rovio/rovio product website]
* [http://wiki.ros.org/rovio drivers for ROS]
|-
| [[Image:Icon scout.png|100px]] || NomadicScout (customized)
* [[ScoutSoftware|instructions and software]]
|-
| [[Image:Icon socrob.png|100px]] || SocRob omni
* [[SocrobOmniSoftware|instructions and software]]
|-
|}

== Bibliography for projects ==

=== on Kalman Filter ===
* [[Media:Kalman.pdf|Kalman and Extended Kalman Filters: Concept, Derivation and Properties - Maria Isabel Ribeiro (2004)]]

=== on particle filters ===
* [[Media:Arulampalam,02.pdf|A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking - Arulampalam, Maskell, Gordon, Clapp (2002)]]

=== on mapping ===
* [[Media:Elfes87.pdf|Sonar-Based Real-World Mapping and Navigation - Alberto Elfes (1987)]]
* [[Media:Elfes occup grids.pdf|Using Occupancy Grids for Mobile Robot Perception and Navigation - Alberto Elfes (1989)]]
* [[Media:Thrun03.pdf|Learning Occupancy Grid Maps with Forward Sensor Models - Thrun (2003)]]

=== on Monte Carlo localization (MCL) ===
* [[Media:Fox01.pdf|Particle Filters for Mobile Robot Localization - Fox, Thrun, Burgard, Dellaert (2001)]]
* [[Media:Rekleitis02.pdf|Particle Filter Tutorial for Mobile Robots - Ioannis Rekleiris (2002)]]

=== on robust Monte Carlo localization ===
* [[Media:Mcl-mixture-ai-2001.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on simultaneous localization and mapping (SLAM) ===
* [[Media:Durrant-Whyte06.pdf|Simultaneous Localization and Mapping: Part I - Durrant-Whyte, Bailey (2006)]]
* [[Media:Bayley06.pdf|Simultaneous Localisation and Mapping (SLAM): Part II State of the Art - Bailey, Durrant-Whyte (2006)]]
* [[Media:Montemerlo02.pdf|FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem - Montemerlo, Thrun, Koller, Wegbreit (2002)]]
* [[Media:Montemerlo03.pdf|Simultaneous Localization and Mapping with Unknown Data Association Using FastSLAM - Montemerlo, Thrun (2003)]]

=== on cooperative teammate localization ===
* [http://welcome.isr.ist.utl.pt/img/pdfs/1485_FinalVersion.pdf Optimal Guidance and Decentralised State Estimation Applied to a Formation Flying Demonstration Mission in GTO - D. Dumitriu et al (2007)]]
* [[Media:TRO_08-2D-distances.pdf|Robot-to-Robot Relative Pose Estimation from Range Measurements - Zhou and Roumeliotis (2008)]]
* [[Media:Multi-mcl-journal-00-large.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on cooperative perception and localization using shared objects ===
* [[Media:JSantostese_final.pdf|Multi-Robot Cooperative Object Localization Decentralized Bayesian Approach - J. Santos (2009)]]

=== on multiagent pollutant monitoring ===
* [[Media:Seco98a.pdf|A Society of Agents in Environmental Monitoring - Seco, Pinto-Ferreira, Correia (1998)]]
* [[Media:Seco98b.pdf|Multiagents and Pollutant Monitoring - Seco, Pinto-Ferreira, Correia (1998)]]

== Software ==

=== for IdMind modified Nomadic Scout robots ===
* ROS drivers: [[Media:Ros scout-1.0.tgz|ros_scout-1.0.tgz]]

=== for Pioneer P3-DX robots ===
* Operations manual: [[Media:P3OpMan3.pdf|P3OpMan3.pdf]]
* MATLAB interface code: check [[Robotics lab resources#Interface with MATLAB 2]]
* Python interface code: [[Media:Pioneer.rar|Pioneer.rar]]
* Hokuyo Laser URG-04LX-UG01 Matlab code and documentation (thanks to students Miguel Vaz and Henrique Silva): [[Media:Hokuyo_Laser_InterfacePioneer_Matlab.zip|Hokuyo_Laser_InterfacePioneer_Matlab.zip]]

=== maps ===
* Scanned copy of a map of the 5th floor at the North Tower: [[Media:Piso5.pdf|piso5.pdf]] (revised: better resolution)

=== demo software ===
* Bayes filtering demo in 1D -- [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py] -- '''UPDATE''': now includes Particle filtering!

=== general purpose software ===
* ROS: Robot Operating System http://www.ros.org

QuadSoftware

2013-10-01T14:42:04Z

Henrique:

QuadSoftware

2013-10-01T14:26:43Z

Henrique:

[[Image:MiniQuad_small.JPG|thumb|Quadrotor Platform]]

== About ==

This page presents instructions and software for ISR Quadrotors. This vehicle includes a Pandaboard Computer that is not recommended to do heavy computing, and so it is only appropriate to run the ROS drivers for the hardware (motors and sensors). So the suggested architecture is to use an external laptop for the main software, connecting via Wi-Fi to the quadrotor. The driver nodes can be remotely launched using roslaunch.

== Software ==

The source code can be found here: [[Media:Ros scout-1.0.tgz|ros_scout-1.0.tgz]]. All platforms already include a scout directory at home with this software, whose packages are accessible via ROS_PACKAGE_PATH.

== Usage ==

=== Packages ===
* scout_drivers -- contains the main drivers
* scout_msgs -- defines the message types employed by the drivers
* joy -- a copy of the [http://wiki.ros.org/joy joy package] compatible with the Scout software

=== Nodes ===
* motors -- interfaces the motor controllers: sends motor velocity commands and receives encoder readings
* sensors -- interfaces the sonars (currently disabled) and the battery sensors
* joydrive -- node to control the robot using a gamepad
* keydrive -- node to control the robot using the keyboard

=== Subscribed topics ===
* /scout/motion (ScoutMotionMsg) -- reference velocities for each wheel (velocity_left and velocity_right) in raw units and an enable flag

=== Published topics ===
* /scout/battery (ScoutBatteryMsg) -- voltages (in V) of batteries (battery1) and external power supply (battery2)
* /scout/sonars (ScoutSonarsMsg) -- (DISABLED BY DEFAULT) array of sonar readings
* /scout/motors (ScoutMotorsMsg) -- encoder counter for each wheel (count_left and count_right) in raw units

== Examples ==

An example of a launch file to launch all scout nodes (locally)
<pre>
<launch>
<node name="motors" pkg="scout_driver" type="motors"/>
<node name="sensors" pkg="scout_driver" type="sensors"/>
<node name="joy" pkg="joy" type="joy_node"/>
<node name="joydrive" pkg="scout_driver" type="joydrive"/>
</launch>
</pre>
NOTE: you need to modify these file in order to launch the nodes remotely.

QuadSoftware

2013-10-01T14:17:00Z

Henrique: Created page with "Quadrotor Platform == About == This page presents instructions and software for our customized versions of Nomadic Scouts. This customization..."

[[Image:MiniQuad_small.JPG|thumb|Quadrotor Platform]]

== About ==

This page presents instructions and software for our customized versions of Nomadic Scouts. This customization was performed by [http://www.idmind.pt IdMind] and includes new electronics. These platforms include a nowadays obsolete Pentium III motherboard, and so it is only appropriate to run the ROS drivers for the hardware (motors and sensors). So the suggested architecture is to use an external laptop for the main software, connecting via a ethernet cable the platform motherboard. The driver nodes can be remotely launched using roslaunch.

== Software ==

The source code can be found here: [[Media:Ros scout-1.0.tgz|ros_scout-1.0.tgz]]. All platforms already include a scout directory at home with this software, whose packages are accessible via ROS_PACKAGE_PATH.

== Usage ==

=== Packages ===
* scout_drivers -- contains the main drivers
* scout_msgs -- defines the message types employed by the drivers
* joy -- a copy of the [http://wiki.ros.org/joy joy package] compatible with the Scout software

=== Nodes ===
* motors -- interfaces the motor controllers: sends motor velocity commands and receives encoder readings
* sensors -- interfaces the sonars (currently disabled) and the battery sensors
* joydrive -- node to control the robot using a gamepad
* keydrive -- node to control the robot using the keyboard

=== Subscribed topics ===
* /scout/motion (ScoutMotionMsg) -- reference velocities for each wheel (velocity_left and velocity_right) in raw units and an enable flag

=== Published topics ===
* /scout/battery (ScoutBatteryMsg) -- voltages (in V) of batteries (battery1) and external power supply (battery2)
* /scout/sonars (ScoutSonarsMsg) -- (DISABLED BY DEFAULT) array of sonar readings
* /scout/motors (ScoutMotorsMsg) -- encoder counter for each wheel (count_left and count_right) in raw units

== Examples ==

An example of a launch file to launch all scout nodes (locally)
<pre>
<launch>
<node name="motors" pkg="scout_driver" type="motors"/>
<node name="sensors" pkg="scout_driver" type="sensors"/>
<node name="joy" pkg="joy" type="joy_node"/>
<node name="joydrive" pkg="scout_driver" type="joydrive"/>
</launch>
</pre>
NOTE: you need to modify these file in order to launch the nodes remotely.

File:MiniQuad small.JPG

2013-10-01T14:14:33Z

Henrique: