Description

ROS Drivers for the Stingbot and Traxbot Robots, developed at MRL-ISR-UC.
Note: This package depends on cereal_port from the serial_communication stack.

Nodes: stingbot_node / traxbot_node

Similar Arduino-based drivers for the Stingbot and Traxbot robots. The difference between the two nodes resides in robot specific parameters.

Usage

rosrun mrl_robots_drivers stingbot_node [serial_port]

rosrun mrl_robots_drivers traxbot_node [serial_port]

The optional parameter serial_port defines the serial port to communicate with the Arduino Board (Default: /dev/ttyACM0).

Subscribed topics

cmd_vel (geometry_msgs/Twist)

• Velocity commands to differentially drive the robot.

Published Topics

odom (nav_msgs/Odometry)

• Odometry data from the robot.

xbee (std_msgs/String)

• Coming soon...

sonars (std_msgs/Float32MultiArray)

• Coming soon...

tf transforms provided

odom → base_link

• Transform from odometric origin to robot base.