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Package Summary

This package contains the launch files and different documents needed to start the system

Package Summary

This package contains the launch files and different documents needed to start the system

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Description

Includes the mild.launch file which starts the asr_mild_base_laserscanner node and the asr_mild_base_driving node.

Functionality

Our MILD Robot:

Our MILD Robot

This package is only used to start the asr_mild_base_laserscanner node of a robot with a SICK PLS 101-312 laserscanner and the asr_mild_base_driving node.

Also here you can adapt the parameters for the laserscanner and the speed up of the velocity (look at the asr_mild_base_laserscanner and asr_mild_base_driving documentation).

To adapt the parameters take a look at the mild.launch file:

<launch>
    <env name="ROSCONSOLE_CONFIG_FILE" value="$(find asr_mild_base_launch_files)/log/rosconsole.config" />

    <node name="sick" pkg="asr_mild_base_laserscanner" type="asr_mild_base_laserscanner" output="screen" required="true"/>
    <param name="topic" value="scan" />
    <!-- Laserscanner baudrate. Only four values: 9600, 19200, 38400, 500000. 38400 means 4 complete measurements in 1 sec. -->
    <param name="baudrate" value="500000" />
    <param name="serial" value="/dev/rs422b" />
    <param name="init_attempts" value="10" />

    <node name="can" pkg="asr_mild_base_driving" type="asr_mild_base_driving" output="screen" required="true"/>
    <!-- Speedup of the mild. 1 = normal velocity. 2 = double velocity. Float value. --> <param name="velocity" value="1" />
</launch>

Usage

Needed packages

asr_mild_base_driving

asr_mild_base_laserscanner

Start system

Execute the following command on the computer which is connected to the motors and the laserscanner (start driving and laserscanner):

roslaunch asr_mild_base_launch_files mild.launch

2019-12-07 12:27