Pi-puck ROS Driver Package

Introduction

This repository contains the ROS driver package for support for the Pi-puck robotics platform.

Pi-puck

The Pi-puck is a Raspberry Pi extension board for the e-puck and e-puck2 robot platforms, designed and built as a collaboration between the University of York and GCtronic.

For more information about the Pi-puck, see:

• GCtronic wiki page - http://www.gctronic.com/doc/index.php?title=Pi-puck
• Pi-puck on the YRL website - https://www.york.ac.uk/robot-lab/pi-puck/
• IROS 2017 paper - https://eprints.whiterose.ac.uk/120310/

Supported Features

This package has only been tested with ROS Melodic.

The following features are currently supported:

• Navigation
  • Spatial
    • IMU (Z-rotation mode and full 3-axis mode)
    • Accelerometer (Not exposed by Pi-puck e-puck firmware, changes to firmware needed if we want to expose this)
    • Transform server
      • Static transforms
      • Dynamic transform
        • Rotation
        • Translation
  • Motors
    • Speed
    • Steps
    • Odometry
  • Proximity
    • e-puck IR (< 1 metre range)
    • Pi-puck IR (between 1.35 and 4 metre range based on mode)
• Vision
  • e-puck camera
  • Pi-puck camera
• Sound
  • Speaker
  • Microphones
• Power
  • Battery ADC
• Display
  • OLED
• I/O
  • Navigation switch

Documentation

For full documentation see the repository Wiki.

Robot Model (URDF)

A model of the Pi-puck can be found in src/pi_puck_driver/src/urdf/pi_puck_urdf.xml.

RVIZ

RVIZ configuration displaying data from all sensors of the Pi-puck can be found in src/pi_puck_driver/src/rviz/pi_puck.rviz.