Furbot is a vehicle made in University of Genova. It is designed to be manually controlled by an operator, but it has an interface to control it via special protocol. It will be more useful to make Furbot autonomous at some level. Our project is part of a platform project, this means that more than one group works to the same robot in order to make a coordinate work. Our main goal was to develop a ROS interface for Furbot vehicle, in order to make it able to be controllable via ROS.
A detailed description of the project is available in report.pdf.
- Ruslan Aminev
- Luigi Secondo
Overall organisation and reasons.
Part of package which converts UDP status frame to ROS msgs with telemetry.
Initialization procedure with check of Furbot state.
Take UDP status frame, convert them and publish to ROS topics.
Subscribe to ROS topic with control signals, convert them and send via UDP.
Param server for PID coefficients.
Subscribe to topic with std_msgs/Twist type of control messages, run internal PID loops and publish control signals as ROS message.
Using telemetry calculate odometry transformation.
Launch file description.
Complete parsing functionality and add ROS msgs.