0.Tms Rc Turtlebot OverView

• package1 : herkulex
• package2 : kobuki_control

1.herkulex

• driver for servo motor

about herkulex

2.kobuki_control

• package to control kobuki(Yujin Robot)

Command for running

// This launches the minimal operation configuration
roslaunch kobuki_node minimal.launch
// This runs control node
rosrun kobuki_control kobuki_conrtol

Published Topics

mobile_base/commands/velocity (geometry_msgs/Twist)

 // publish kobuki_base's position (*environment-dependent)
kobuki_info (geometry_msgs/Point)

Subscribed Topics

odom (nav_msgs/Odometry)

Services

kobuki_control (tms_msg_rc/kobuki_control_1) 
 input : cmd 
         arg[] 
// command0 : move (absolute coordinates)
//            arg[0]:goal_x(mm), arg[1]:goal_y(mm), arg[2]:goal_th(deg)
// command1 : move (relative coordinate) use odometry
//            arg[0]:goal_distance(mm), arg[1]:goal_th(deg)
// command2 : control manipulator(unique pkg)
//            arg[0]:goal_th0, arg[1]:goal_th1, arg[2]:goal_th2, arg[3]:goal_th3
//  angular unit: (21~1002，See herkulex's manual p.32)

 output : result // 0:failed 1:succeeded

Caution

This pkg depends on ROS-TMS-RP pkg to call path planning service. Please be careful about output paths' rule.