RaposaNgSoftware
About
This page presents instructions and software for our customized version of RAPOSA-NG.
For more information, please use the redmine page: http://rm.isr.ist.utl.pt/projects/raposa/wiki/Main_Page
Access
To gain access to RAPOSA-NG session, svn network, etc:
Username: raposang Password: raposa2011
Software
All software needed for RAPOSA-NG control is preinstalled in RAPOSA-NG and stored in svn.
To download latest trunk version, please use the following command:
svn co svn://svn.isr.ist.utl.pt/raposa/raposang/trunk/raposang_ros /home/raposa/ros
Usage
RAPOSA-NG uses two different battery sources for the electronics and motors, respectively. Please assure that both batteries have a buzzer attached while connected to RAPOSA-NG, and make sure that both batteries and Buzzers are detached from one another after usage.
Use the red button to power on/off the motors, and the green button to power on/off the electronics using batteries. The gray button is used to power on/off the CPU, and it can only be powered if either the green button is on with batteries attached, or an external feed is being used.
Packages
- scout_drivers -- contains the main drivers
- scout_msgs -- defines the message types employed by the drivers
- joy -- a copy of the 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)
<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>
NOTE: you need to modify these file in order to launch the nodes remotely.