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raspimouse_ros_2

The current version of the ROS base package for Raspberry Pi Mouse. This package is derived from "pimouse_ros" package, which is coded for the book from Nikkei BP.

Requirements

This package requires the following to run:

Installation

1. Install the latest stable version of ROS.

Please refer to ROS WiKi for installation, or run the following ros setup scripts.

2. Download and install device driver.

Please refer to rt-net/RaspberryPiMouse for download and installation.

3. Make a workspace.

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_worksapce
cd ~/catkin_ws
catkin_make

Delete the following line from ~/.bashrc:

source /opt/ros/kinetic/setup.bash

Add the follwing line to ~/.bashrc:

source ~/catkin_ws/devel/setup.bash

4. Download this repository into ~/catkin_ws/src.

cd ~/catkin_ws/src
git clone https://github.com/ryuichiueda/raspimouse_ros_2.git

5. Resolve the system dependencies.

Beforehand, please check the value of $ROS_PACKAGE_PATH. (The path in which raspimouse_ros_2 exists should be included.)

rosdep install raspimouse_ros_2

6. Build this repository.

cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash

7. Test with the buzzer node

roslaunch raspimouse_ros_2 raspimouse.launch
rostopic pub /buzzer std_msgs/UInt16 1000

Support of RT-USB-9axisIMU2

If you have an RT-USB-9axisIMU2 9-axis sensor, its z angular velocity can be reflected to the /odom topic.

requirement

configuration

Please set 1 to the argument imu. When you want to use this feature permanently, please rewrite the arg element of raspimouse.launch as follows.

<launch>
  <arg name="imu" default="1" />   <!-- change from 0 to 1 -->
    <include if="$(arg imu)" file="$(find rt_usb_9axis_sensor)/launch/rt_usb_9axis_sensor.launch" />
...

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The current version of the ROS base package for Raspberry Pi Mouse

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