This repository contains the ROS driver package for support for the Pi-puck robotics platform.
The Pi-puck is a Raspberry Pi extension board for the e-puck and e-puck2 robot platforms, designed and built as a collaboration between the University of York and GCtronic.
For more information about the Pi-puck, see:
- GCtronic wiki page - http://www.gctronic.com/doc/index.php?title=Pi-puck
- Pi-puck on the YRL website - https://www.york.ac.uk/robot-lab/pi-puck/
- IROS 2017 paper - https://eprints.whiterose.ac.uk/120310/
This package has only been tested with ROS Melodic.
The following features are currently supported:
- Navigation
- Spatial
- IMU (Z-rotation mode and full 3-axis mode)
- Accelerometer (Not exposed by Pi-puck e-puck firmware, changes to firmware needed if we want to expose this)
- Transform server
- Static transforms
- Dynamic transform
- Rotation
- Translation
- Motors
- Speed
- Steps
- Odometry
- Proximity
- e-puck IR (< 1 metre range)
- Pi-puck IR (between 1.35 and 4 metre range based on mode)
- Spatial
- Vision
- e-puck camera
- Pi-puck camera
- Sound
- Speaker
- Microphones
- Power
- Battery ADC
- Display
- OLED
- I/O
- Navigation switch
For full documentation see the repository Wiki.
A model of the Pi-puck can be found in src/pi_puck_driver/src/urdf/pi_puck_urdf.xml.
RVIZ configuration displaying data from all sensors of the Pi-puck can be found in src/pi_puck_driver/src/rviz/pi_puck.rviz.