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Only released in EOL distros:  

ROS API

single_miniq_node

single_miniq_node is a driver for a single LSE miniQ robot. It subscribes to velocity commands and publishes the robot's odometry and gas sensor data.

Subscribed Topics

cmd_vel (geometry_msgs/Twist)

Published Topics

odom (nav_msgs/Odometry) nose (lse_sensor_msgs/Nostril)

Parameters

port (string, default: /dev/ttyUSB0) baudrate (int, default: 57600)

multi_miniq_node

multi_miniq_node is a driver for multiple LSE miniQ robots. It subscribes to velocity commands and publishes each robot's odometry and gas sensor data. Each topic is pushed down into its own namespaces, by prefixing the topics with robot_<i>/ , e.g., robot_0/cmd_vel etc.

Subscribed Topics

cmd_vel (geometry_msgs/Twist)

Published Topics

odom (nav_msgs/Odometry) nose (lse_sensor_msgs/Nostril)

Parameters

port (string, default: /dev/ttyUSB0) baudrate (int, default: 57600) /list_of_ids (list)

miniq_pid_server

miniq_pid_server is a node for making online calibrations of the LSE miniQ PID velocity controllers. The LSE miniQ has two PID velocity controllers for each wheel, one to start the motor and another for regular operation. To learn how to use this node check this tutorial.

Parameters

port (string, default: /dev/ttyUSB0) baudrate (int, default: 57600)

setup_miniq

setup_miniq is a node for downloading settings into the EEPROM of a LSE miniQ robot. This can be done using an XBee connection with a single LSE miniQ, however it is safer to do so using a USB cable. This node should be used in a launch file containing the settings of the robot. To learn how to use this node check this tutorial.

Parameters

starting_l_kp (int, default: 350) starting_l_ki (int, default: 80) starting_l_kd (int, default: 0) running_l_kp (int, default: 150) running_l_ki (int, default: 20) running_l_kd (int, default: 2) starting_r_kp (int, default: 350) starting_r_ki (int, default: 80) starting_r_kd (int, default: 0) running_r_kp (int, default: 150) running_r_ki (int, default: 20) running_r_kd (int, default: 2) battery_type (int, default: 0) mode (int, default: 0) odometry_d (double, default: 0.0) odometry_yaw (double, default: 0.0) gas_a (double, default: 0.0) gas_b (double, default: 0.0) timeout (double, default: 0.0) port (string, default: /dev/ttyUSB0) baudrate (int, default: 57600)

Tutorials

All the LSE miniQ tutorials can be found on the lse_miniq_robot stack.


2019-07-13 12:50