Luchta / nrp_mouse_v41

NRP_Mouse V4 - standard Servo Version

Control Software for remote control of the NRP Robot Mouse

Prerequisites

Setup a ROS environment on the RaspberryPi

Install the adafruit ServoKit Library

https://learn.adafruit.com/adafruit-16-channel-pwm-servo-hat-for-raspberry-pi/using-the-python-library

Setup & Compile

clone this repository into your

~/mouse_ws/src

in mouse_ws call:

catkin_make

Run

1. start Roscore
2. start Publisher Node:

 roslaunch bkp_mouse bkp_mouse_node

3. Run subscriber Python3 script

adafruit_sub.py

##Control control the robot via the keyboard: i: inital pose w: forward trott a: left d: right q: close programm