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 to true, 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. Pass false 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.