sengi_ros

ROS package to get Sengi working with ros.

Setup

Go into your workspace source folder (e.g. catkin_ws/src):
cd ~/catkin_ws/src
clone this repository:
git clone http://github.com/gbr1/sengi_ros.git
return in catkin_ws:
cd ..
check dependencies:
rosdep install --from-paths src --ignore-src -r -y
make:
catkin_make
install:
catkin_make install

Launch

To launch sengi_node:
roslaunch sengi_ros sengi_node.launch
Node opens /dev/ttyACM0 at a baudrate of 115200.

Subcribed Topics

• /sengi/feedback , speed from motors
• /cmd_vel , twist from robot control

Published Topics

• /sengi/cmd_drive , motors control
• /sengi/status , battery level

Known issues

There is no config file, so it is difficult to change parameters. Everything works on Erwhi Hedgehog but could be useful to set parameters in a yaml file.

Copyright (c) 2019 Giovanni di Dio Bruno under MIT license