README.md

raspimouse_ros_2

The current version of the ROS base package for Raspberry Pi Mouse. This package is derived from "pimouse_ros" package, which is coded for the book from Nikkei BP.

• old versions: ryuichiueda/raspimouse_ros

Requirements

This package requires the following to run:

• Ubuntu
  • Ubuntu 16.04
  • Ubuntu MATE 16.04
• ROS
  • ROS Kinetic Kame
• Device Driver
  • rt-net/RaspberryPiMouse

Installation

1. Install the latest stable version of ROS.

Please refer to ROS WiKi for installation, or run the following ros setup scripts.

• ryuichiueda/ros_setup_scripts_Ubuntu16.04_server

2. Download and install device driver.

Please refer to rt-net/RaspberryPiMouse for download and installation.

3. Make a workspace.

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_worksapce
cd ~/catkin_ws
catkin_make

Delete the following line from ~/.bashrc:

source /opt/ros/kinetic/setup.bash

Add the follwing line to ~/.bashrc:

source ~/catkin_ws/devel/setup.bash

4. Download this repository into ~/catkin_ws/src.

cd ~/catkin_ws/src
git clone https://github.com/ryuichiueda/raspimouse_ros_2.git

5. Resolve the system dependencies.

Beforehand, please check the value of $ROS_PACKAGE_PATH. (The path in which raspimouse_ros_2 exists should be included.)

rosdep install raspimouse_ros_2

6. Build this repository.

cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash

7. Test with the buzzer node

roslaunch raspimouse_ros_2 raspimouse.launch
rostopic pub /buzzer std_msgs/UInt16 1000

Support of RT-USB-9axisIMU2

If you have an RT-USB-9axisIMU2 9-axis sensor, its z angular velocity can be reflected to the /odom topic.

requirement

• hardware: RT-USB-9axisIMU2 (text mode)
• software: https://github.com/AtsushiSaito/rt_usb_9axis_sensor

configuration

Please set 1 to the argument imu. When you want to use this feature permanently, please rewrite the arg element of raspimouse.launch as follows.

<launch>
  <arg name="imu" default="1" />   <!-- change from 0 to 1 -->
    <include if="$(arg imu)" file="$(find rt_usb_9axis_sensor)/launch/rt_usb_9axis_sensor.launch" />
...