ros2_whill

ROS2 package for WHILL Model CR

ROS API

Subscribed Topics

/whill/controller/joy (sensor_msgs/Joy)

• Virtual WHILL joystick input. You can controll WHILL via this topic.

/whill/controller/cmd_vel (geometry_msgs/msg/Twist)

• cmd_vel input. You can control WHILL via this topic.
• This command is only available ModelCR firmware updated after 2019.12. So, If you want to use this, please update firmware.
• You can disable this topic by enable_cmd_vel_control parameter.

Published Topics

/whill/states/joy (sensor_msgs/Joy)

• Joystick status

/whill/states/joint_state (sensor_msgs/JointState)

• Wheel rotate position(rad) and rotation velocity(rad/s)

/whill/states/imu (sensor_msgs/Imu)

• IMU measured data.

/whill/states/battery_state (sensor_msgs/BatteryState)

• Battery information

Parameters

• serialport

  • The serial port of WHILL.
  • default_value: /dev/ttyUSB0

• wheel_radius

  • default_value: 0.1325

• send_interval

  • the frequency of sending packet to WHILL
  • default_value: 10

• enable_cmd_vel_control

  • If true, you can control WHILL by publishing the velocity command.But before that, you need update the firmware first.
  • default_value: false

• publish_tf

  • If true, TF will be published in this node.Otherwise, it will not be published.
  • default_value: false

Requirements

• Ubuntu 22.04
• ROS 2 Iron
• ros2_whill_interfaces

Build

In your shell:

cd ~/<your_ros2_ws>/src
git clone https://github.com/WHILL/ros2_whill_interfaces.git
git clone https://github.com/HanLeqi0117/ros2_whill.git
cd ~/<your_ros2_ws>
colcon build --packages-up-to ros2_whill
source install/local_setup.bash

Launch nodes

Controller node

ros2 launch ros2_whill modelc.launch.py

In the case of opening serial port failed

Edit

/lib/udev/rules.d/50-udev-default.rules

And add:

KERNEL=="ttyUSB[0-9]*", MODE="0666"

Call services

Change Speed Profile

ros2 service call /whill/set_speed_profile_srv ros2_whill_interfaces/SetSpeedProfile '{s1: 4, fm1: 15, fa1: 16, fd1: 64, rm1: 10, ra1: 16, rd1: 56, tm1: 10, ta1: 56, td1: 72}'

Power on

ros2 service call /whill/set_power_srv ros2_whill_interfaces/SetPower '{p0: 1}'

Power off

ros2 service call /whill/set_power_srv ros2_whill_interfaces/SetPower'{p0: 0}'