rr_openrover_pro

Provides a way to control an OpenRover robot using ROS and the OpenRover JavaSDK

Prerequisites

-OpenRover JavaSDK 2.0.02 or above
-ROS Kinetic or above
-Ubuntu 16.04 or above

Install

cd ~/catkin_ws/src
git clone https://github.com/RoverRobotics/rr_openrover_pro.git
cd ~/catkin_ws
catkin_make
source /devel/setup.bash

Running Examples

roslaunch rr_openrover_pro openrover_startup.launch
roslaunch rr_openrover_pro joystick_example.launch

Published Topics:

• /openrover/battery/cell1/soc: Publishes std_msgs/Int32, battery cell 1 state of charge as a percentage [1 to 100]

• /openrover/battery/cell2/soc: Publishes std_msgs/Int32, battery cell 2 state of charge as a percentage [1 to 100]

• /openrover/charging: Publishes std_msgs/Int32, not very robust yet yet. This topic publishes charge state of the robot

• /openrover/enc: Publishes geometry_msgs/Vector3Stamped encoder feedback in [counts]

• /openrover/motor1/temp: Publishes std_msgs/Int32 motor 1 temp in [C]

• /openrover/motor2/temp: Publishes std_msgs/Int32 motor 2 temp in [C]

• /openrover/odom: Publishes nav_msgs/Odometry encoder feedback in [m/s] and [rad/s], usefull as odometry source for kalman filter. Not accurate yet.

• /openrover/odom_diff: Publishes geometry_msgs/Vector3Stamped provides the difference in commanded and measured odometry

• /openrover/status: Publishes std_msgs/String un-parsed string used for publishing the other topics

Subcribed Topics:

• /led: Subscribes to std_msgs/Int32 to turn the LED on and off

• /cmd_vel: Subscribes to geometry_msgs/Twist used to command the wheels. linear.x is used to move forward and back, angular.z is used to turn left and right.

• /openrover/charging_override: Subscribes to std_msgs/Int32 since /openrover/charging is not robust this provides a way to manually change the /openrover/charging topic. This is useful if the topic is used in a state machine

Parameters:

• ip_address : IP Address of SwiftNav Piksi, use the SwiftNAv console to check what this is set to

• tcp_port: The tcp port of SwiftNav Piksi, use the SwiftNav console to check what this is set to