tbd_podi_common

TBD_podi_common

Copyright - Transportation, Bots, and Disability Lab, Carnegie Mellon University
Released under MIT License

To configure the computer, check out the setup guide. To run, check out the run guide

Components (Nodes)

control_robot_node

This node enables joystick commands (from joy package) for Podi. It also acts as an relay for other sources of control (ros-navigation, etc) to ensure safety and merging of commands from the joystick

laser_scan_frame_transform

As Podi's aluminimum structure gets in the way of the LIDAR, the laser gives out false readings. This node republishes the laser scanner reading and remove invalid readings. The current range is pi * 5/8 to -pi * 5/8.

handle_state_node

This node reads the encoder for the handler and publishes the current reading (0-1024) on the topic handle_reading (type: std_msgs/Int16). It also publishes the sensor_msgs/JointState messages for the handle_rotation and handle_height joints.

computer_state_node

This node reads the state of the laptop on board and publishes the state of the battery.

joystick control mapping

TODO

Quick Run Guide

1. Connect the USB-B and LiDAR's ethernet cable to the computer.
2. Run the following command: roslaunch tbd_podi_common control_robot_laser.launch.

Past Contributors

• Amal Nanavati