MartinNievas / romaa_driver

ROS driver for the RoMAA mobile robot

ROS driver for the RoMAA mobile robot

This package contains the driver node and launch files for the RoMAA robot.

Driver node

Usage

rosrun romaa_driver romaa_driver

Example:

rosrun romaa_driver romaa_driver _port=/dev/ttyUSB1 _baud=57600

Paremeters:

• ~port (string, default: /dev/ttyUSB0): serial communication port device
• ~baud (int, default: 115200): serial communication port baudrate

Published topics

• ~odom (nav_msgs/Odometry): odometry messages

Subscribed topics

• ~cmd_vel (geometry_msgs/Twist): Command velocity messages

Services

• reset_odometry (std_srvs/Empty): reset robot odometry
• set_odometry (romaa_driver/SetOdometry): set robot odometry
• enable_motor (std_srvs(SetBool): enable (data: true) or disable (data: false) motors

Launch files

• romaa.launch: run RoMAA's ROS driver node: Arguments: port and baudrate
• joy_teleop.launch: run joytick teleoperation nodes
• uvc_cam.launch: run camera node