yibaobo / xbot

base ros packages for xbot2, including bringup, driver, xbot2_node, keyboard_control, xbot_description.

Overview

Xbot is a double wheeled mobile robot which is suitable for most of common sensors and hardware such as Microsoft's Kinect and Asus' Xtion Pro and RPlidar. Users can easily integrate their own customized hardware and applications to the development platform by using ROS and the related series tutorials. For more details about xbot robot, please visit http://robots.ros.org/xbot/

Packages

This git repo contains 4 ROS packages for making up a complete xbot ROS bringup. They are xbot_driver, xbot_dock_drive, xbot_ftdi, xbot_keyop, xbot_msgs,xbot_node and xbot_safety_controller.

xbot_driver

xbot_driver is the basic package of xbot_bringup. It provides the serial communication with the xbot move base including get sensors data and post the command data from navigation algorithms. There ars some test tools such as simple_keyop for you to debug your driver program. You can test if the received data is as expected or transfer the move command to see if it is moving as what you want. xbot_driver is also a pure c++ program which means that you can run it as a c++ program or you can choose the ROS way to execute it.

xbot_keyop

The package for teleoperate xbot in your computer. Just follow the direction info once the program launched and shown in screen.

xbot_msgs

All of the message types that xbot publishes and subscribes. You can define your own message types in this package.

xbot_node

xbot_node is the bridge between xbot_driver and ROS. In this package, all the related subscribed topics and published topics is defined and realised.

Usage

There are three ways to launch the xbot.

xbot_rplidar.launch

roslaunch xbot_bringup xbot_rplidar.launch

Driving xbot with only rplidar sensor.

xbot_asus.launch

roslaunch xbot_bringup xbot_asus.launch

Driving xbot with only asus camera.

xbot_rplidar_asus.launch

roslaunch xbot_bringup xbot_rplidar_asus.launch

Driving xbot with both rplidar sensor and asus camera.