robco-ros

ROS packages for Robco robots

Installation

1. Clone the repository into your catkin workspace: git clone https://github.com/robco-therobotcompany/robco-ros.git ~/catkin_ws/src/robco-ros
2. Install dependencies using rosdep: cd ~/catkin_ws && rosdep install --from-paths src --ignore-src -r -y
3. Install librobcomm according to its instructions here
4. Build the package: cd ~/catkin_ws && catkin_make

Usage

The package provides the robco_hw_node which runs the hardware interface for a robot. See the launchfiles in the robco_hw package for an example of how to start it.

The robco_description package provides a URDF library for all of our robot modules. This way, any module configuration can be easily represented using the pre-defined macros. For example:

<?xml version="1.0" ?>

<robot name="robco" xmlns:xacro="http://www.ros.org/wiki/xacro">
    <xacro:include filename="$(find robco_description)/urdf/robco_modules.xacro"/>

    <xacro:robco_module_0106 name="base" next="drive0"/>
    <xacro:robco_module_0088 name="drive0" next="drive1"/>
    <xacro:robco_module_0089 name="drive1" next="link0"/>
    <xacro:robco_module_0025 name="link0" next="drive2"/>
    <xacro:robco_module_0085 name="drive2" next="link1"/>
    <xacro:robco_module_0022 name="link1" next="drive3"/>
    <xacro:robco_module_0097 name="drive3" next="drive4"/>
    <xacro:robco_module_0087 name="drive4" next="effector"/>
    <xacro:robco_module_0801 name="effector"/>
</robot>

This results in the following robot model: