aakarsh / rustymouse

Teleop example for the raspimouse written in Rust

Teleop example written in Rust for the raspimouse developed by RT Corporation

This package was originally inspired by Takashi Ogura package found here

First follow the instructions here to get the packages that will enable to you simulate the raspimouse in Gazebo.

First clone the project:

$ git clone https://github.com/surfertas/rustymouse.git

Then build the project:

$ cargo build

We first need to launch the simulation in Gazebo. (Make sure not to forget source devel/setup.bash) Go to ~/raspiouse_gazebo/launch

$ roscore&
$ roslaunch raspimouse_with_samplemaze.launch 

For the moment, ros.publish() doesnt accept the topic raspimouse/diff_drive_controller/cmd_vel so we need to use a python script to map between cmd_vel and the raspimouse/diff_drive_controller/cmd_vel topic.

Open a new window and go to rustymouse/script and run:

$ python topic_to_topic.py

Finally, run

$ cargo run --bin vel_publisher

You should be prompted to enter w,s,a,d. Use q to quit.