ROS

Discriptions

This directory is designed for the ROS implementation of Construction Robotics.

Usage

1. ROS Tracer Setup

   • Start ROS Core service

   roscore
   

   • Source the right ROS setup.bash

   cd devel
   source setup.bash
   

   • First time use tracer-ros package

   rosrun tracer_bringup setup_can2usb.bash
   

   • Not the first time use tracer-ros package

   rosrun tracer_bringup bringup_can2usb.bash
   

   • Start the base node for the robot within CAN

   roslaunch tracer_bringup tracer_robot_base.launch
   

   • Start keyboard control

   roslaunch tracer_bringup tracer_teleop_keyboard.launch
   

2. IMU Module Setup

   • Check USB Port

   ls -l /dev/ttyUSB*
   

   • Authorize usage of the port

   sudo chmod 666 /dev/ttyUSB0
   

   • Start the node service

   roslaunch fdilink_ahrs ahrs_data.launch
   

   • Essential data packages

   Detail reference can be seen within the Imu class of sensor_msgs.msg