ROS Driver for E-Puck Robot
This driver is maintained by the Verlab Laboratory at Universidade Federal de Minas Gerais.
- Python Bluetooth or Pybluez
- Python Image Library (PIL)
E-puck robots must run the webots firmware (resources/firmware/webots-firmware-1.4.4.hex).
How to use the epuck driver
Run the epuck driver with the e-puck's MAC address (eg. 10:00:E8:6C:D7:E8)
$ roslaunch epuck_driver epuck_controller.launch epuck_address:='MAC'
Test teleoperating with the keyboard (the package ros-indigo-turtlebot-teleop must be installed)
$ roslaunch epuck_driver epuck_teleop.launch
Some useful bluetooth commands
To find the nearby bluetooth devices and get their MAC address:
$ hcitool scan
To automatically set the bluetooth password when you start the epuck_controller.launch (the XXXX is the password, eg. 1515)
$ bluetooth-agent XXX