gwaxG / jagcontrol

Jaguar Control

This package provides command line and ROS interfaces to control Jaguar V4 with Manipulator Arm Mobile Robotic Platform

Features

• velocity and joints control with a keyboard
• velocity and joints control through ROS
• visualization and publishing of the robot sensor and configuration state
• limits for flipper and arm rotations (+/- 45 degrees)
• memorization of the joint configuration
• reconfiguration to the initial state flippers and arm extended on startup
• low battery and high motor current warnings

Requirements

• Go >= 1.15
  color v1.10.0
  amqp v1.0.0
• Python >= 3.8.5
  pika >= v0.9.1
• ROS Noetic/Melodic/Kinetic
• RabbitMQ >= 3.6.10

Install

pip install pika
go get github.com/gwaxG/jagcontrol  
cd $GOPATH/src/github.com/gwaxG/jagcontrol
go get -d ./...

Usage

go run main.go

ROS

Launch scripts/middleware.py and be sure that roscore is running.

Topics

All data is published in String message in json format.

Publish

• Configuration /robot/state
• Sensor data /robot/sensor_state

Subscribe

• Close connection /robot/command <- String(0.0)
• Arm change angles (rad) /robot/cmd_arm <- Float32MultiArray([arm1, arm2])
• Set velocity (-1 ... 1), flipper change angles (rad) /robot/cmd_array <- Float32MultiArray([linear, angular, front_flipper, rear_flipper])