ypspur_ros_bridge

About

This package provides the bridge to use ypspur with ROS.
With this package, you can send cmd_vel message and get odom message.

Installation

1. git clone

$ cd <catkin_ws>/src
$ git clone https://github.com/RyodoTanaka/ypspur_ros_bridge.git

2. rosdep

$ cd <catkin_ws>
$ rosdep install -i -y -r --from-paths src --ignore-src

3. build

$ cd <catkin_ws>
$ catkin_make
$ source devel/setup.bash

Usage

1. start the ypspur

First, you need to launch ypspur-coordinator. After connecting your PC and ypspur by mini-USB code, type follwing command.

$ cd <ypspur_ros_bridge>/script
$ sudo sh ypspur_starter.sh

And you should see follwing messages, if it's succeeded.

++++++++++++++++++++++++++++++++++++++++++++++++++
YamabicoProject-Spur
 Ver. 1.14.0
++++++++++++++++++++++++++++++++++++++++++++++++++
Device Information
 Port    : /dev/ttyACM0 
Warn: Baudrate setting is not supported on this device.
Applying parameters.
YP-Spur coordinator started.
Command analyzer started.
Trajectory control loop started.

If you couldn't get such messages, insert your USB plug again.
After 10 seconds, try to start ypspur-coordinator.

2. launch ypspur_ros_bridge

$ roslaunch ypspur_ros_bridge ypspur_ros_bridge.launch

See ypspur_ros_bridge/launch/ypspur_ros_bridge.launch file, for more detail.
And the parameter file is inside of ypspur_ros_bridge/config/ directory.