QuadSoftware: Difference between revisions

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== Software ==
== 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.
Under Construction...


== Usage ==
== Usage ==


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


=== Nodes ===
=== Nodes ===
* motors -- interfaces the motor controllers: sends motor velocity commands and receives encoder readings
* imu_parser -- Reads data from IMU.
* sensors -- interfaces the sonars (currently disabled) and the battery sensors
* quad_can_driver -- Sends commands to motors.
* joydrive -- node to control the robot using a gamepad
* quad_esc -- Reads velocities from motors.
* keydrive -- node to control the robot using the keyboard
* quad_link -- Establish connection between vehicle and laptop
* quad_status -- Reads some important data from vehicle


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


=== Published topics ===
=== Published topics ===
* /scout/battery (ScoutBatteryMsg) -- voltages (in V) of batteries (battery1) and external power supply (battery2)
* Under Construction
* /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.

Revision as of 14:42, 1 October 2013

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

Under Construction...

Usage

Packages

  • quad_drivers -- contains the main drivers
  • quad_launch -- contains some launch files to record the flights

Nodes

  • imu_parser -- Reads data from IMU.
  • quad_can_driver -- Sends commands to motors.
  • quad_esc -- Reads velocities from motors.
  • quad_link -- Establish connection between vehicle and laptop
  • quad_status -- Reads some important data from vehicle

Subscribed topics

  • Under Construction

Published topics

  • Under Construction
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