Robot_info Package

Table of Contents

• Introduction
• Prerequisites
• Installation
• Usage
• Results

Introduction

The robot_info package is created by ROS nodes and is a part of a project aimed at creating a user-friendly graphical interface for robot teleoperation and monitoring. This package provides a ROS node that publishes essential information about the robot. It serves as the backend support for a GUI application, enabling users to interact and control robot's more efficiently.

Prerequisites

• ROS
• c++ compiler
• Linux

Installation

1. clone this repository inside your catkin_ws/src directory:

cd ~/catkin_ws/src
git clone https://github.com/Gokhulraj6200/robot_info.git

2. Compile the package:

cd ~/catkin_ws
catkin_make

3. Source the ROS environment:

source devel/setup.bash

Usage

1. start the ROS core by using the following code:

roscore

2. Launch the robot info node:

rosrun robot_info agv_robot_info_node

3. subscribe to 'robot_info' topic in terminal_2:

rostopic echo /robot_info

Results

Robot moving forward:

data_field_01: "robot_description: Mir100"
data_field_02: "serial_number: 567A359"
data_field_03: "ip_address: 169.254.5.180"
data_field_04: "firmware_version: 3.5.8"
data_field_05: "maximum_payload: 100 Kg"
data_field_06: "hydraulic_oil_temperature: 45C"
data_field_07: "hydraulic_oil_tank_fill_level: 100%"
data_field_08: "hydraulic_oil_pressure: 250 bar"\