ROS | C++ | Linux
Robot Operating System (ROS) is a powerful software tool to control robots. This project uses ROS to create a software package that can control an iRobot to complete a set of tasks as noted below.
- Move freely in the given indoor environment.
- Using the left and right bump sensors, turn around when it touches an obstacle.
- Turn around when an external switch is pressed.
- Respond to joystick input for manual control.
- Do a celebration ceremony motion triggered by one of the joystick buttons.
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create_autonomy:
This is a package that contains the necessary drivers for the iRobot. This driver contains the geometry_msgs/Twist subscriber that controls the robot's wheels according to a forward and angular velocity. -
joy:
The joy library contains a node called "joy_node". This node publishes a message with the current state of the joystick's buttons and axes.