vector_ros

This repository contains an unofficial ROS package for Anki Vector. This package is essentially a wrapping of core Vector functions from Vector Python SDK as ROS topics, services and actions(full list below). THe original repository is that we forked from is here

Setup

Requirements

• ROS Melodic with Python 3.7.7 or higher installed
• Vector Python SDK
• diff_drive package

Virtual Environment

It's highly recommended to use a virtual environment in order to run Python 3 properly on ROS. Follow the instructions:

1. Clone this repository

git clone https://github.com/betab0t/vector_ros

2. Install virtualenv

# Get virtualenv package
sudo apt update
sudo apt install python3-dev python3-pip
sudo pip3 install -U virtualenv

# Verify installation
python3 --version
pip3 --version
virtualenv --version

# Make python3 virtual environment
cd vector_ros
virtualenv --system-site-packages -p python3 envs/venv
source envs/venv/bin/activate  # sh, bash, ksh, or zsh
pip install --upgrade pip
pip list  # show packages installed within the virtual environment
deactivate  # don't exit until you're done running code

3. Install Vector SDK

Follow the instructions listed here. Make sure to use your Anki Developer username and password

Topics

• /vector/camera (sensor_msgs/Image)

Vector camera feed.

• /lwheel_ticks (std_msgs/Int32)

Cumulative encoder ticks of the left wheel. used by diff_drive package.

• /rwheel_ticks (std_msgs/Int32)

Cumulative encoder ticks of the right wheel. used by diff_drive package.

• /lwheel_rate (std_msgs/Int32)

Left wheel rotation rate. used by diff_drive package.

• /rwheel_rate (std_msgs/Int32)

Right wheel rotation rate. used by diff_drive package.

Services

• /vector/battery_state

• /vector/set_head_angle

• /vector/set_lift_height

• /vector/anim_list

• /vector/say_text

Actions

• /vector/play_animation

Play animation by name.

Examples

Run the following (with your Vector's serial number substituted) to make topics available for subscribing and publishing messages to Vector

roslaunch vector_ros vector.launch serial:="<serial number>"

View single image from camera

rosrun image_view image_saver image:=/vector/camera
[ INFO] [1550425113.646567813]: Saved image left0000.jpg
[ INFO] [1550425113.752592532]: Saved image left0001.jpg
[ INFO] [1550425113.848999553]: Saved image left0002.jpg

Set head angle

rosservice call /vector/set_head_angle "deg: 45.0"

Say text

rosservice call /vector/say_text "text: 'hello world'"

Play animation

rostopic pub /vector/play_animation/goal vector_ros/PlayAnimationActionGoal "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
goal_id:
  stamp:
    secs: 0
    nsecs: 0
  id: ''
goal:
  anim: 'anim_turn_left_01'"

FAQ

• How do i find Vector's IP address?

• How do i find Vector's name?

• How do i find Vector's serial number?

• Why isn't this XX from Vector SDK supported? Well, I didn't wrap all the functions from the SDK - only the main ones as i see it. Yet, if you found a missing function that you need/would like to see as part of vector_ros, please consider opening a new issue with your proposal.