Hardware interface packages for CaBot
| Package | Description |
|---|---|
| cabot_base | launch configurations to bringup cabot hardware drivers |
| cabot_serial | node to communicate with Arduino/ESP32 microcontroller |
| motor_controller | motor driver and adapter |
| wireless_scanner_ros | WiFi/BLE scanner for ROS |
- run the script to download dependencies
./setup-dependency.sh
- if you pull the latest docker images from docker hub, run the following command
docker compose --profile build pull
- if you build docker image, run the script to build image
./bake-docker.sh -i # run docker image build for your platform
- if you run in development mode, run the script to build workspaces
./build-workspace.sh # run workspace build
./build-workspace.sh -d # run workspace debug build (symlink-install)
- run tests by following steps
# if you run docker container in production mode
docker compose run --rm driver-prod bash
# if you run docker container in development mode
docker compose run --rm driver-dev bash
# inside docker
source install/setup.bash
# run node for test
- /cabot/set_touch_speed_active_mode (std_srvs/srv/SetBool, to control touch active mode)
| Touch speed active mode | Touching | Not Touching |
|---|---|---|
| True | robot can move | robot cannot move |
| False | robot cannot move | robot can move |
- /cabot/event (std_msgs/msg/String, button events, needs to control cabot_ui)
- /cabot/odom_raw (nav_msgs/msg/Odometry, raw odometry)
- /cabot/imu/data (sensor_msgs/msg/Imu, IMU)
- /cabot/touch_speed_switched (std_msgs/msg/Float32, touch speed control)
- /velodyne_points (sensor_msgs/msg/Point2, expects this name even if you use different LiDAR from velodyne)
- /joint_states (sensor_msgs/msg/JointState, control shift)
- /tf (tf2_msgs/msg/TFMessage)
- /tf_static (tf2_msgs/msg/TFMessage)
- /cabot/pressure (sensor_msgs/msg/FluidPressure, better localization for multi story building)
- /cabot/cmd_vel (geometry_msgs/msg/Twist, motor control)
- /cabot/notification (std_msgs/msg/Int8, handle vibration)
- /cabot/pause_control (std_msgs/msg/Bool, optional, turn off motor loop contro)