woudie / easy_drive

Easy robot drive system utlizing rosserial based on R3s simple_drive

Easy Drive

A easy to use teleop robot drive system that utilizes skid steering technique to move.

Usage

First and foremost, identify the device names, typically the controller shows up as /dev/input/js0 and the microcontroller as /dev/ttyUSB0. You can use ls /dev | grep tty and ls /dev/input to check.

Basestation

On the basestation/controller side, do the following:

$ roslaunch easy_drive drive_teleop.launch joy_id:=/dev/input/js0
$ roslaunch easy_drive cmd_vel_mux.launch

OR all-at-once:

$ roslaunch easy_drive drive.launch joy_id:=/dev/input/js0

Robot

On the robot side, Make sure you have compiled and uploaded the firmware provided in the drive_firmware or drive_firmware_alt to your microcontroller.

Afterwards do the following:

roslaunch easy_drive drive_robot.launch serial_id:=/dev/ttyUSB0

Future Improvements

• Add features for autonomous mode to make it a full drive system

For any questions or concerns please email woudie @ [email protected]