Package Summary
ROSARIA is a ROS wrapper for MobileRobots' ARIA C++ library. This is a simple proof of concept package that lets you set velocity and read odometry data form MobileRobots (ActivMedia) platforms (e.g. Pioneer) using their official library.
- Author: Srećko Jurić-Kavelj
- License: BSD
- Repository: amor-ros-pkg
- Source: hg https://amor-ros-pkg.googlecode.com/hg/
Contents
Instalation and Examples
This is covered in /Tutorials/How to use ROSARIA. Below is a video demonstration of Pioneer 3-DX teleoperated with an iPhone.
ROS API
RosAria
Simple node that uses ARIA to control the robotSubscribed Topics
cmd_vel (geometry_msgs/Twist)- receives velocity commands from e.g. teleop_base
Published Topics
pose (nav_msgs/Odometry)- publishes odometry information (rate depends on the robot, e.g. 10Hz is the default rate for Pioneer 3-DX)
- publishes bumper states (thanks to Arturo Ribes of the Spanish National Research Council)
- publishes sonar readings (thanks to Michiel Blokzijl of the Imperial College London). Readings are taken if there are subscribers on the topic. When the last subscriber unsubscribes, sonars are turned off.
Parameters
~port (string, default: /dev/ttyUSB0)- path to the serial port robot's microcontroller is connected to