The nanosaur_base package provides the motor control and nanosaur display controller.

Subscribers

nanosaur_base/cmd_vel (geometry_msgs/msg/Twist)

Provides a velocity command to drive the Nanosaur's motor. Nanosaur can move only with a linear and angular velocity.

nanosaur_base/robot_description (std_msgs/msg/String)

Show the Nanosaur's robot description

nanosaur_base/eyes (nanosaur_msgs/msg/Eyes)

Provides a command to move the Nanosaur's eyes

Publishers

nanosaur_base/JointState (sensor_msgs/msg/JointState)

Plot the estimated wheel joint position

Parameters

nanosaur_base has a set of parameters to configure the hardware on the robot. These drivers came from the I2C devices connected on the NVIDIA Jetson.

If you have assembly the robot without modifying the official configuration, you don't need to change these parameters.

• display.left.enable [Default True] enable left display
• display.left.address [Default 60] left I2C display address
• display.left.bus [Default 1] left I2C display bus
• display.right.enable [Default True] enable right display
• display.right.address [Default 60] right I2C display address
• display.right.bus [Default 0] right I2C display bus
• rate [Default 5] (in Hz) display refresh rate
• motor.left.channel [Default 1] left motor channel on the I2C driver
• motor.left.wheel [Default sprocket_left_joint] left wheel joint name
• motor.right.channel [Default 4] right motor channel on the I2C driver
• motor.right.wheel [Default sprocket_right_joint] right wheel joint name
• rpm [Default 150] Max motors RPM speed