nxt_robots: nxt_robot_gyro_car | nxt_robot_kit_test | nxt_robot_sensor_car
Package Summary
The nxt_robot_gyro_car package provides a starting nxt robot. For instructions on building the nxt robot load the gyro_car.lxf into the LEGO Digital Designer (ldd.lego.com) and select the building guide mode. This robot uses the nxt lego ultrasonic sensor, the hitechnic gryo sensor, and the hitechnic acclerometer sensor.
- Author: Melonee Wise
- License: BSD
- Source: hg https://stack-nxt-robots.foote-ros-pkg.googlecode.com/hg (branch: default)
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Contents
Running the robot
After building the robot, make sure the sensors and servos are connected as listed in the robot.yaml file. http://nxt.foote-ros-pkg.googlecode.com/hg/nxt_robots/nxt_robot_gyro_car/robot.yaml
1 nxt_robot:
2 - type: motor
3 name: r_wheel_joint
4 port: PORT_A
5 desired_frequency: 20.0
6 - type: motor
7 name: l_wheel_joint
8 port: PORT_B
9 desired_frequency: 20.0
10 - type: motor
11 name: m_wheel_joint
12 port: PORT_C
13 desired_frequency: 1.0
14 - type: gyro
15 name: gyro
16 frame_id: gyro_link
17 port: PORT_3
18 offset: 0
19 desired_frequency: 10.0
20 - type: ultrasonic
21 frame_id: ultrasonic_link
22 name: ultrasonic_sensor
23 port: PORT_2
24 spread_angle: 0.2
25 min_range: 0.01
26 max_range: 2.5
27 desired_frequency: 5.0
Now you can start your base robot:
roslaunch nxt_robot_gyro_car robot.launch
To make sure everything is running fine, look at your node graph:
rxgraph
Now try driving it around with nxt_teleop.