Easy Drive
A easy to use teleop robot drive system that utilizes skid steering technique to move.
Usage
First and foremost, identify the device names, typically the controller shows up as /dev/input/js0 and the microcontroller as /dev/ttyUSB0.
You can use ls /dev | grep tty and ls /dev/input to check.
Basestation
On the basestation/controller side, do the following:
$ roslaunch easy_drive drive_teleop.launch joy_id:=/dev/input/js0
$ roslaunch easy_drive cmd_vel_mux.launch
OR all-at-once:
$ roslaunch easy_drive drive.launch joy_id:=/dev/input/js0
Robot
On the robot side, Make sure you have compiled and uploaded the firmware provided in the drive_firmware or drive_firmware_alt to your microcontroller.
Afterwards do the following:
roslaunch easy_drive drive_robot.launch serial_id:=/dev/ttyUSB0
Future Improvements
- Add features for autonomous mode to make it a full drive system
For any questions or concerns please email woudie @ stwoudie@gmail.com