The B21 is a robot which uses the RFlex driver.
- Ring of 24 sonar sensors on its base
- Ring of 24 sonar sensors on its body
- Ring of 24 IR sensors on its body
- 2 bumps sensors per panel
- 12 on body, 16 on base
B21Controls B21 type robots. Awesomely.
Subscribed Topics~cmd_vel (geometry_msgs/Twist)
- Motor Commands
- Translational acceleration
- Turns the sonar on and off
- Turns the brake on and off
Published Topics~sonar_cloud_base (sensor_msgs/PointCloud)
- Point Cloud from Base. Uses base reference frame.
- Point Cloud from Body. Uses body reference frame.
- Broadcasts whether sonar is on
- Broadcasts whether brake is on
- Current battery voltage
- Current odometry
- Whether or not the robot's battery is plugged in
Parameters~port (String, default: /dev/ttyUSB0)
- Filename of port that the robot is connected on
- Main loop rate in hertz