EvanKrall / rvr_ros

ROS node for interacting with Sphero RVR

rvr_ros

ROS node for interacting with Sphero RVR.

Requires a Python 3-based ROS installation.

Current functionality:

• Stream sensor data (locator, quaternion, gyroscope, velocity) from RVR and publish it to /odom, plus publish a TF from /odom to /base_link.

Planned functionality:

• A launch file
• Subscribe to /cmd_vel and control the RVR's motors

Known bugs:

• hard-codes serial port as /dev/ttyTHS1
• Doesn't exit on ^C, needs a ^\
• dependency on sphero-sdk python package not encoded