Repository description

The repository contains a minimum set of ROS packages for working with Robotino. These packages are modified version of their namesakes from revision 3303 of the official repository.

The contents of the packages:

• robotino_node:

  ROS drivers for Robotino and some of extra devices such as webcam and lidar;

• robotino_msgs:

  files with description of msg and srv message types which are used within robotino_node package;

• robotino_description

  files with URDF description of robot and some of extra devices such as webcam and lidar.

Installation

1. Add a needed repository as it is described here.

2. Update information about available repositories

   $ sudo apt-get update

3. Install RobotinoAPI2 library by typing the command

   $ sudo apt-get install robotino-api2

   Note: Alternatively RobotinoAPI2 library can be built from sources as it is described here.

4. Copy this repository into src subfolder of your workspace by for example this way

   $ cd PATH_TO_YOUR_WORKSPACE/src
   $ git clone https://github.com/red-itmo/robotino.git

5. Run catkin_make command:

   $ cd PATH_TO_YOUR_WORKSPACE
   $ catkin_make

Decription of nodes from robotino_node package

Some part of the information below was taken from robotino_node package description on appropriate page of wiki.ros.

1. robotino_node

Provided services

• set_gripper_state (robotino_msgs/SetGripperState)

  Service to open or close the gripper

• set_encoder_position (robotino_msgs/SetEncoderPosition)

  Service to set the encoder position

• set_ns_ceil_height (robotino_msgs/SetNsCeilHeight)

  Service to change calibration parameter for NorthStar

Subscribed topics

• set_digital_values (robotino_msgs/DigitalReadings)

  Digital values for digital outputs on Robotino are set using this topic

• cmd_vel (geometry_msgs/Twist)

  Allows setting velocities for Robotino

Published topics

• analog_readings (robotino_msgs/AnalogReadings)

  Readings from the analog inputs on Robotino

• bumper (std_msgs/Bool)

  Readings from the bumper sensor on Robotino

• digital_readings (robotino_msgs/DigitalReadings)

  Readings from the digital inputs on Robotino

• distance_sensors (sensor_msgs/PointCloud)

  Readings from the distance sensors on Robotino

• gripper_state (robotino_msgs/GripperState)

  Readings from the gripper on Robotino (it currently doesn't work properly)

• encoder_readings (robotino_msgs/EncoderReadings)

  Readings from additional Robotino's encoder input

• motor_readings (robotino_msgs/MotorReadings)

  Readings from Robotino's motors

• north_star (robotino_msgs/NorthStarReadings)

  Readings from the NorthStar sensor on Robotino

• power_readings (robotino_msgs/PowerReadings)

  Power readings from Robotino (it doesn't work)

• robotino_joint_states (sensor_msgs/JointState)

  Information about positions of robot's joints

Parameters

• ~hostname (string, default: 172.26.1.1)

  Robotino's IP Address

• ~max_linear_vel (double, default: 0.2)

  Maximum linear velocity in m/s

• ~min_linear_vel (double, default: 0.05)

  Minimum linear velocity in m/s

• ~max_angular_vel (double, default: 1.0)

  Maximum angular velocity in rad/s

• ~min_angular_vel (double, default: 0.1)

  Minimum angular velocity in rad/s

• ~ns_room_id (int, default: 3)

  The room id parameter for NorthStar

• ~ns_ceil_height (double, default: 3.0)

  Calibration parameter for NorthStar

• ~tf_prefix(string, default: "no_prefix")

  If value of this parameter isn't equal to "no_prefix", all robot's links are put to subspace which name coincides with the value of this parameter; for example, when tf_prefix = "robot1", link "base_link" gets new name "robot1/base_link"

2. robotino_odometry_node

Provided services

• reset_odometry (robotino_msgs/ResetOdometry)

  Service to reset the odometry

Published topics

• odom (nav_msgs/Odometry)

  Odometry data from robot

Parameters

• ~hostname (string, default: 172.26.1.1)

  Robotino's IP Address

• ~tf_prefix(string, default: "no_prefix")

  If value of this parameter isn't equal to "no_prefix", "odom" and "base_link" links are put to subspace which name coincides with the value of this parameter; for example, when tf_prefix = "robot1", link "base_link" gets new name "robot1/base_link"

Provided tf transforms

• odom --> base_link

  The node updates this transform using odometry data

3. robotino_laserrangefinder_node

Published topics

• scan (sensor_msgs/LaserScan)

  Provides data from lidar

Parameters

• ~hostname (string, default: 172.26.1.1)

  Robotino's IP Address

• ~tf_prefix(string, default: "no_prefix")

  If value of this parameter isn't equal to "no_prefix", "laser_link" link is put to subspace which name is coincide with the value of this parameter; for example, when tf_prefix = "robot1", link "laser_link" gets new name "robot1/laser_link"

• ~laserRangeFinderNumber(int, default: 0)

  The number of lidar. If it is equal to 0, then lidar has topic "scan" and link "laser_link". If it is equal to 1, then lidar has topic "scan1" and link "laser_link1". And so on.

4. robotino_camera_node

Published topics

• image_raw (sensor_msgs/Image)

  Provides image from webcam

Parameters

• ~hostname (string, default: 172.26.1.1)

  Robotino's IP Address

• ~cameraNumber(int, default: 0)

  The number of webcam. If it is equal to 0, then image from webcam is available from topic "image_raw". If it is equal to 1, then it uses topic "image_raw1". And so on.

Launching

All nodes which are needed for work of only one robot can be started using this command

$ roslaunch robotino_node robotino_node.launch hostname:=IP_ADRESS_OF_YOUR_ROBOT

For several robots (for 2 in example below) type these commands in different terminals:

$ roslaunch robotino_node robotino_node.launch hostname:=IP_ADRESS_OF_FIRST_ROBOT tf_prefix:=robot1 use_tf_prefix:=true __ns:=robot1

$ roslaunch robotino_node robotino_node.launch hostname:=IP_ADRESS_OF_SECOND_ROBOT tf_prefix:=robot2 use_tf_prefix:=true __ns:=robot2