ROS 2 node for the Raspimouse robot from RT.
https://www.rt-shop.jp/index.php?main_page=product_info&products_id=3419
This is a managed-lifecycle node. The node must be configured and activated after being launched before the robot can be used. If running the node manually, after launching the node execute the following command to configure it:
$ ros2 lifecycle set raspimouse configure
If configuration succeeds, execute the following command to activate the node:
$ ros2 lifecycle set raspimouse activate
The robot can now be controlled and sensor information will be published.
The node can be deactivated using the following command:
$ ros2 lifecycle set raspimouse deactivate
This will disable publishing sensor data and stop the motors.
When the node is active, motor functionality can be tested by turning on the motors and sending a velocity command.
$ ros2 service call /motor_power std_srvs/SetBool '{data: true}'
$ ros2 topic pub -1 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.05, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0.05}}'
Odometry information can be checked by echoing the odom
topic.
$ ros2 topic echo /odom
Similarly other sensor information can also be viewed by echoing the relevant topic.
-
buzzer
Type:
std_msgs/Int16
Used to control the buzzer. Provide a value in Hertz and the buzzer will emit that tone.
-
cmd_vel
Type:
geometry_msgs/Twist
Controls the motors. Specify the forward and turning speeds of the robot.
-
leds
Type:
raspimouse_msgs/Leds
Turns the four LEDs on the front of the robot on and off.
-
light_sensors
Type:
raspimouse_msgs/LightSensors
Provides the raw values from the light sensors on the front of the robot.
-
odom
Type:
nav_msgs/Odometry
Provides odometry. If hardware pulse counters are available and the
use_pulse_counters
parameter is set totrue
, the odometry is calculated from the motor control pulse counts. Otherwise, the odometry is estimated based on the velocity commands given to the robot and elapsed time. -
switches
Type:
raspimouse_msgs/Switches
Provides the status of each of the three push switches on the side of the robot.
-
motor_power
Type:
std_srvs/SetBool
Call this service and pass
true
to enable the motors. Passfalse
to disable the motors.
-
odometry_scale_left_wheel
Type:
double
Default:
1.0
Use to adjust the odometry input from the left wheel (when using pulse counters to calculate odometry). This is used to account for slight differences in wheel diameter and wheel slip between the left and right wheels.
-
odometry_scale_right_wheel
Type:
double
Default:
1.0
Use to adjust the odometry input from the right wheel (when using pulse counters to calculate odometry). This is used to account for slight differences in wheel diameter and wheel slip between the left and right wheels.
-
use_light_sensors
Type:
boolean
Default:
true
Enable or disable the light sensors on the front of the robot.
-
use_pulse_counters
Type:
boolean
Default:
false
Use hardware pulse counters as the odometry source. When set to true, hardware pulse counters will be used only if present.
- Due to instabilities in either the hardware pulse counters or the kernel driver for them, it is
possible for reading from the pulse counters to cause the node to freeze. If this happens
regularly, disable the hardware pulse counters using the
use_pulse_counters
parameter and rely on estimated odometry instead.