nxt_robots: nxt_robot_gyro_car | nxt_robot_kit_test | nxt_robot_sensor_car
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Package Summary
The nxt_robot_sensor_car package provides a nxt robot with four sensors. For instructions on building the nxt robot load the sensor_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 nxt lego color sensor, the hitechnic gryo sensor, and the hitechnic acclerometer sensor.
- Author: Melonee Wise
- License: BSD
- Repository: foote-nxt
- Source: hg https://nxt.foote-ros-pkg.googlecode.com/hg/
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_sensor_car/robot.yaml
1 nxt_robot:
2 - type: motor
3 name: r_wheel_joint
4 port: PORT_A
5 desired_frequency: 20.0
6
7 - type: motor
8 name: l_wheel_joint
9 port: PORT_B
10 desired_frequency: 20.0
11
12 - type: motor
13 name: m_wheel_joint
14 port: PORT_C
15 desired_frequency: 1.0
16
17 - type: gyro
18 name: gyro
19 frame_id: gyro_link
20 port: PORT_3
21 offset: 0
22 desired_frequency: 20.0
23
24 - type: ultrasonic
25 frame_id: ultrasonic_link
26 name: ultrasonic_sensor
27 port: PORT_2
28 spread_angle: 0.2
29 min_range: 0.01
30 max_range: 2.5
31 desired_frequency: 5.0
32
33 - type: color
34 frame_id: color_link
35 name: color_sensor
36 port: PORT_1
37 desired_frequency: 10.0
Now you can start your base robot:
roslaunch nxt_robot_sensor_car robot.launch
To make sure everything is running fine, look at your node graph:
rxgraph
Now try driving it around with nxt_teleop.