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Only released in EOL distros:  

rovio: rovio_av | rovio_ctrl | rovio_shared

Package Summary

The rovio_ctrl package contains nodes to control and query the motor and head position of a WowWee Rovio.

rovio: rovio_av | rovio_ctrl | rovio_shared

Package Summary

Control and Query the Movement Devices on a WowWee Rovio

rovio: rovio_av | rovio_ctrl | rovio_shared

Package Summary

Control and Query the Movement Devices on a WowWee Rovio

About

The rovio_ctrl package contains nodes to control the movement of the Rovio. This includes control the movement of the base itself, as well as controlling the head (camera) position. Furthermore, joystick teleoperation is provided via the rovio_teleop node.

Nodes

rovio_move

rovio_move controls the motors of the Rovio.

Subscribed Topics

man_drv (rovio_shared/man_drv) cmd_vel (geometry_msgs/Twist)

Parameters

/rovio_shared/host (string) /rovio_shared/user (string) /rovio_shared/pass (string)

rovio_head

rovio_head publishes the position of the head as well as allows for head position control.

Published Topics

head_sensor (std_msgs/String)

Services

head_ctrl (rovio_shared/head_ctrl)

Parameters

/rovio_shared/host (string) /rovio_shared/user (string) /rovio_shared/pass (string)

rovio_teleop

rovio_teleop can control the motors, head, and audio device of a Rovio using a joystick. This node listens to a joy topic and sends messages to the cmd_vel topic in the rovio_move node, head_ctrl service in the rovio_head node, and wav_play service in the rovio_audio node. Buttons 0, 1, and 2 of a joystick control the head, buttons 4, 5, 6, and 7 of a joystick play audio files on the Rovio, and the left and right joysticks control the movement of the Rovio. An example gamepad is shown to the right with its buttons labeled. rovio_teleop_joy.gif

Subscribed Topics

joy (sensor_msgs/Joy)

Published Topics

cmd_vel (geometry_msgs/Twist)

Services Called

head_ctrl (rovio_ctrl/head_ctrl) wav_play (rovio_shared/wav_play)

Parameters

/rovio_shared/rovio_wav (string)

Installation

To install the rovio stack, you can choose to either install from source, or from the Ubuntu package:

Source

To install from source, execute the following:

Ubuntu Package

To install the Ubuntu package, execute the following:

Startup

The rovio_ctrl package contains a rovio_ctrl.launch file which should be edited with the hostname, username and password to login to your Rovio. This file launches an instance of the rovio_move and rovio_head nodes. To launch these nodes, the following command can be used:

The rovio_ctrl package also contains a rovio_teleop.launch file which should be edited with the hostname, username and password to login to your Rovio as well as absolute path to the wav folder within the rovio_av package. This file launches an instance of the rovio_move, rovio_head, rovio_audio and rovio_teleop nodes. To launch these nodes, the following command can be used:

You should now be able to teleoperate your Rovio with a joystick.

Support

Please send bug reports to the GitHub Issue Tracker. Feel free to contact me at any point with questions and comments.


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2019-11-30 13:13