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raspimouse2

industrial_ci

raspimouse

ROS 2 node for the Raspberry Pi Mouse.

Table of Contents

Supported ROS distributions

ROS 2

Requirements

Installation

Binary Installation

sudo apt install ros-$ROS_DISTRO-raspimouse

Source Build

# Create workspace directory
mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/

# Clone package
git clone -b $ROS_DISTRO https://github.com/rt-net/raspimouse2

# Install dependencies
rosdep install -r -y -i --from-paths .

# Build & Install
cd ~/ros2_ws
colcon build --symlink-install
source ~/ros2_ws/install/setup.bash

QuickStart

Build and install the device driver in advance.

# Terminal 1
source ~/ros2_ws/install/setup.bash
ros2 launch raspimouse raspimouse.launch.py

# Terminal 2
source ~/ros2_ws/install/setup.bash
# Set buzzer frequency
ros2 topic pub -1 /buzzer std_msgs/msg/Int16 '{data: 1000}'
ros2 topic pub -1 /buzzer std_msgs/msg/Int16 '{data: 0}'
# or rotate motors
ros2 service call /motor_power std_srvs/SetBool '{data: true}'
ros2 topic pub -1 /cmd_vel geometry_msgs/msg/TwistStamped '{twist: {linear: {x: 0.05, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0.05}}}'
# Shutdown
ros2 lifecycle set raspimouse shutdown

Packages

  • raspimouse

    • This package controls the Raspberry Pi Mouse using the device driver.

  • raspimouse_msgs

    • This package defines the custom message types used by the Raspberry Pi Mouse.

Topics

Subscribed

  • buzzer

    • Type: std_msgs/Int16
    • Used to control the buzzer. Provide a value in Hertz and the buzzer will emit that tone.

  • cmd_vel

    • Type: geometry_msgs/msg/TwistStamped
    • Controls the motors. Specify the forward and turning speeds of the robot.

  • leds

    • Type: raspimouse_msgs/Leds
    • Turns the four LEDs on the front of the robot on and off.

Published

  • light_sensors

    • Type: raspimouse_msgs/LightSensors
    • Provides the raw values from the light sensors on the front of the robot.

  • odom

    • Type: nav_msgs/Odometry
    • Provides odometry. If hardware pulse counters are available and the use_pulse_counters parameter is set to true, the odometry is calculated from the motor control pulse counts. Otherwise, the odometry is estimated based on the velocity commands given to the robot and elapsed time.

  • switches

    • Type: raspimouse_msgs/Switches
    • Provides the status of each of the three push switches on the side of the robot.

Services

  • motor_power
    • Type: std_srvs/SetBool
    • Call this service and pass true to enable the motors. Pass false to disable the motors.

Parameters

  • odometry_scale_left_wheel

    • Type: double
    • Default: 1.0
    • Use to adjust the odometry input from the left wheel (when using pulse counters to calculate odometry). This is used to account for slight differences in wheel diameter and wheel slip between the left and right wheels.

  • odometry_scale_right_wheel

    • Type: double
    • Default: 1.0
    • Use to adjust the odometry input from the right wheel (when using pulse counters to calculate odometry). This is used to account for slight differences in wheel diameter and wheel slip between the left and right wheels.

  • use_light_sensors

    • Type: boolean
    • Default: true
    • Enable or disable the light sensors on the front of the robot.

  • use_pulse_counters

    • Type: boolean
    • Default: false
    • Use hardware pulse counters as the odometry source. When set to true, hardware pulse counters will be used only if present.

  • wheel_diameter

    • Type: double
    • Default: 0.048
    • Sets the diameter of the robot's wheel. The unit is in meters.

  • wheel_tread

    • Type: double
    • Default: 0.0925
    • Sets the distance between the wheels. The unit is in meters.

  • pulses_per_revolution

    • Type: double
    • Default: 400.0
    • Sets the number of pulses needed for 1 rotation of the used motor.

  • light_sensors_hz

    • Type: double
    • Default: 100.0
    • Sets the frequency of the publishing rate of the topic light_sensors. The unit is in Hz.

  • odom_hz

    • Type: double
    • Default: 100.0
    • Sets the frequency of the publishing rate of the topic odom. The unit is in Hz.

  • switches_hz

    • Type: double
    • Default: 10.0
    • Sets the frequency of the publishing rate of the topic switches. The unit is in Hz.

  • initial_motor_power

    • Type: bool
    • Default: False
    • Sets the initial state of the motor. If set as True, the motors will turn on when the raspimouse node becomes active.

  • odom_frame_id

    • Type: string
    • Default: odom
    • Sets the frame_id of the topic odom.

  • odom_child_frame_id

    • Type: string
    • Default: base_footprint
    • Sets the child_frame_id of the topic odom.

  • odom_frame_prefix

    • Type: string
    • Default: {empty}
    • Adds prefix to the frames of the topic odom. If set as mouse, the frame_id and the child_frame_id will be mouse/odom and mouse/baes_footprint.

Node Description

This is a managed-lifecycle node. The node must be configured and activated after being launched before the robot can be used. If running the node manually, after launching the node execute the following command to configure it:

ros2 lifecycle set raspimouse configure

If configuration succeeds, execute the following command to activate the node:

ros2 lifecycle set raspimouse activate

The robot can now be controlled and sensor information will be published.

The node can be deactivated using the following command:

ros2 lifecycle set raspimouse deactivate

This will disable publishing sensor data and stop the motors.

When the node is active, motor functionality can be tested by turning on the motors and sending a velocity command.

ros2 service call /motor_power std_srvs/SetBool '{data: true}'
ros2 topic pub -1 /cmd_vel geometry_msgs/msg/TwistStamped '{twist: {linear: {x: 0.1, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0.05}}}'

Odometry information can be checked by echoing the odom topic.

ros2 topic echo /odom

Similarly other sensor information can also be viewed by echoing the relevant topic.

License

(C) 2018 RT Corporation [email protected]

Each file is licensed as stated in their headers.
If no license is specified, the file is licensed under the Apache License, Version 2.0.
The full license text is available in the LICENSE file or at https://www.apache.org/licenses/LICENSE-2.0.

Contributing

  • This software is open source, but its development is not open.
  • This software is essentially provided as open source software on an “AS IS” (in its current state) basis.
  • No free support is available for this software.
  • Requests for bug fixes and corrections of typographical errors are always accepted; however, requests for additional features will be subject to our internal guidelines. For further details, please refer to the Contribution Guidelines.

Contributors

Contributions are always welcome!