Overview

https://github.com/RoverRobotics/openrover-ros2 is a repository containing several packages for operating a Rover Robotics ground-based rover:

Packages:

• openrover_core
• openrover_core_msgs
• openrover_demo

Nodes in openrover_core:

/rover_serial

This node directly interfaces with the rover and must run on the same hardware the rover is physically plugged into.

• Subscribers:

  /motor_efforts: openrover_core_msgs/msg/RawMotorCommand

  Low level motor commands expressed as bytes (left, right, flipper) being sent to the rover

  /openrover_command: openrover_core_msgs/msg/RawCommand

  Low-level instructions sent to the rover as (verb, arg) pairs

  Publishers:

  /raw_data: openrover_core_msgs/msg/RawData

  Binary data being emitted from the rover, in unprocessed form (see https://roverrobotics.com/blogs/news/uart-protocol for interpretation)

Gauss% ros2 topic echo /raw_data
which: 14
value: ['''', '3']
---

/rover

A higher-level node which converts between serial and ROS concepts. This need not have direct hardware access to the rover.

• Subscribers:

  /cmd_vel: geometry_msgs/msg/Twist

  Linear and rotational velocity the rover is requested

  /raw_data: openrover_core_msgs/msg/RawData

  Binary data being emitted from the rover, in unprocessed form (see https://roverrobotics.com/blogs/news/uart-protocol for interpretation)

  /diagnostics: diagnostic_msgs/msg/DiagnosticArray

  diagnostic data being emitted by the rover, suitable for consumption by rqt_robot_monitor or diagnostic-aggregator.

  /motor_efforts: openrover_core_msgs/msg/RawMotorCommand

  Motor efforts (left, right, flipper) being sent to the rover

  /odom_raw: nav_msgs/msg/Odometry

  Wheel-based odometry

  /openrover_command: openrover_core_msgs/msg/RawCommand

  Low-level instructions sent to the rover as (verb, arg) pairs

An example of what diagnostics might look like:

Gauss% ros2 topic echo /diagnostics
header:
  stamp:
    sec: 1596074200
    nanosec: 555623392
  frame_id: ''
status:
- level: "\0"
  name: 'over: power'
  message: Okay
  hardware_id: OpenRover
  values:
  - key: battery A state of charge
    value: '0.3'
  - key: battery B state of charge
    value: '0.3'
  - key: battery A current
    value: '0.617647'
  - key: battery B current
    value: '0.235294'
  - key: battery A current (internal)
    value: '-0.185'
  - key: battery B current (internal)
    value: '-0.19'
  - key: battery charging state
    value: 'False'
- level: "\0"
  name: 'over: firmware'
  message: Okay
  hardware_id: OpenRover
  values:
  - key: firmware revision
    value: 1.10.1
- level: "\0"
  name: 'over: drive'
  message: Okay
  hardware_id: OpenRover
  values:
  - key: left encoder displacement
    value: '10035'
  - key: right encoder displacement
    value: '10040'
  - key: left encoder period
    value: '0'
  - key: right encoder period
    value: '0'
  - key: left motor temperature
    value: '27'
  - key: cooling fan 1 duty factor
    value: '0'
  - key: cooling fan 2 duty factor
    value: '0'
---