This is a ROS 1 metapackage for controlling the MSV_01 rescue robot. It provides full usage and monitoring of the electronic stage of the robot within ROS. The metapackage has eight packages, including a package for ad-hoc messages generation and a bringup package. The package has been tested on ROS Indigo but compatible with ROS Kinetic as well.

ROS Indigo should be installed. The package also uses third party software such as:

• The liblightmodbus lightweight, cross-platform Modbus library.
• HerkulexSDK, a library for controlling the Hovis HerkuleX servo motors (Please see http://www.dstrobot.com/eng/index.jsp).

Upon downloading the repo and placing it in the src folder of your catkin_workspace, on the catkin_workspace directory run the command

catkin_make

The metapackage has two main packages for teleoperation of the MSV_01 robot: msv_main and msv_teleop. The msv_electric package retireves the sensing data. The msv_dxl, msv_imu and msv_arm packages provide additional functionality (ROBOTIS Dynamixel AX-12A servos usage, IMU MPU6050 usage and the robotic arm control, respectively). The stack also includes a msv_bringup package for launching the nodes of the package and a msv_msgs package for ad-hoc messages generation.

Soon to become...

• Victor Sandoval - daconjurer

This project is licensed under the BSD 3-Clause License - see the LICENSE.md file for details.

• Both msv_electric and msv_teleop packages use the Modbus library liblightmodbus from Jacek Wieczorek.
• The teleop part is based on the rescue ROS 1 package from José Armando Sanchez Rojas.