biomimetics-ros-pkg's Introduction

biomimetics-ros-pkg

Biomimetic Millisystems Lab ROS Repository. This repository includes an imageproc ROS node.

See http://www.ros.org/wiki/biomimetics-ros-pkg for more information.

Installation

Check out the repository:

cd
git clone https://github.com/andrewjchen/biomimetics-ros-pkg.git
cd biomimetics-ros-pkg
git submodule update --init

Install imageproc_node to the catkin workspace:

cd ~/catkin_ws/src/
ln -s ~/biomimetics-ros-pkg/imageproc_node
rospack profile

Run:

rosrun imageproc_node imageproc_node.py

imageproc_node

Provides a ROS interface to a serial-connected ImageProc2.5

Theory of operation

imageproc_node merely provides a ROS wrapper to imageproc_py-- it accepts ROS messages and makes the analagous calls to imageproc_py.Currently the only verison of imageproc_py that does this is https://github.com/andrewjchen/imageproc_py/tree/imageproc_driver

imageproc_py is a python API that connects to an ImageProc via UART. It uses the "cmd" protocol to send commands such as command velocity, encoder position, or setting a parameter.

On the imageproc2.5 robot controller itself runs the biomimetics imageproc library. This library needs to implement the serial "cmd" protocol in order to talk to imageproc_py over UART. A working implementation can be found here: https://github.com/andrewjchen/imageproc-test/tree/ajc