RoboMasterEP-ROS

C++ version RoboMaster SDK and ROS Interfaces for RoboMaster EP

Working in progress...

Current to-do list

• A basic framework consists an independent C++ SDK and corresponding ROS package
• More optimization maybe

Connection

• Connection via WiFi LAN including IP scanning and TCP transmitting
• Connection via USB (based on RNDIS)

Controller

• Control of chassis with string command line
• Control of chassis with Joystick (work with ROS and ros-kinetic-joy package)
• Control of chassis with expected state(s) which probably consists expected position and expected velocity
• LEDs's control

Push(Messages) Receiver

• A basic receiver of messages pushed by chassis in an independent thread
• Create feedback(s) to Joystick while messages impact that something is peculiar

Events Handler

• Handler of Sensor Adapter's events

Existing Problem(s)

1. controller->set_chassis_speed() needs a short break-time (set moving speed back to 0 or another direction) to change robot's direction.

2. LEDs seems out-of-control regardless of official python sample nor this self-develop c++ sdk with a chassis-only setup

Reference

1. Official Website
2. RoboMaster Developer Guide