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Only released in EOL distros:
rovio: rovio_av | rovio_ctrl | rovio_shared
Package Summary
Documented
The rovio_ctrl package contains nodes to control and query the motor and head position of a WowWee Rovio.
- Author: Russell Toris
- License: BSD
- Source: git https://github.com/WPI-RAIL/rovio.git (branch: fuerte-devel)
rovio: rovio_av | rovio_ctrl | rovio_shared
Package Summary
Released
Documented
Control and Query the Movement Devices on a WowWee Rovio
- Maintainer status: maintained
- Maintainer: Russell Toris <rctoris AT wpi DOT edu>
- Author: Russell Toris <rctoris AT wpi DOT edu>
- License: BSD
- Bug / feature tracker: https://github.com/WPI-RAIL/rovio/issues
- Source: git https://github.com/WPI-RAIL/rovio.git (branch: master)
rovio: rovio_av | rovio_ctrl | rovio_shared
Package Summary
Released
Documented
Control and Query the Movement Devices on a WowWee Rovio
- Maintainer status: maintained
- Maintainer: Russell Toris <rctoris AT wpi DOT edu>
- Author: Russell Toris <rctoris AT wpi DOT edu>
- License: BSD
- Bug / feature tracker: https://github.com/WPI-RAIL/rovio/issues
- Source: git https://github.com/WPI-RAIL/rovio.git (branch: master)
Contents
Nodes
rovio_move
rovio_move controls the motors of the Rovio.Subscribed Topics
man_drv (rovio_shared/man_drv)- Control the movement of the Rovio using movement and speed commands as defined by the Rovio API.
- Control the movement of the Rovio using a geometry_msgs/Twist message. A positive angular-z value corresponds to a clockwise rotation. Movement along linear-y corresponds to moving left/right and movement along linear-x corresponds to moving forwards/backwards.
Parameters
/rovio_shared/host (string)- Hostname used to communicate with the Rovio.
- Username used to authenticate with the Rovio.
- Password used to authenticate with the Rovio.
rovio_head
rovio_head publishes the position of the head as well as allows for head position control.Published Topics
head_sensor (std_msgs/String)- Current head position of the Rovio {"HEAD_UP", "HEAD_MIDDLE", "HEAD_DOWN"}.
Services
head_ctrl (rovio_shared/head_ctrl)- Change the position of the Rovio's head.
Parameters
/rovio_shared/host (string)- Hostname used to communicate with the Rovio.
- Username used to authenticate with the Rovio.
- Password used to authenticate with the Rovio.
rovio_teleop
| rovio_teleop can control the motors and head of a Rovio using the keyboard. Once running the following keys can be used to control to robot: the w, a, s, and d keys can be used to move the Rovio forwards, left, backwards, and right respectively; the q and e keys can be used to rotate left and right respectively; the [1-0] keys can be used to set the speed in the range [1, 10] respectively (with 1 being the fastest); the ,, ., and '/' keys can be used to set the head in the down, middle, and up positions receptively. |  |
Subscribed Topics
joy (sensor_msgs/Joy)- Listens for joystick commands.
Published Topics
cmd_vel (geometry_msgs/Twist)- Control the movement of the Rovio using the left and right joysticks.
Services Called
head_ctrl (rovio_ctrl/head_ctrl)- Change the position of the Rovio's head using buttons 0, 1, or 2 of a joystick.
- Play one of four predefined .wav files using buttons 4, 5, 6, or 7 of a joystick.
Startup
The rovio_ctrl package contains a ctrl.launch file which should be edited with the hostname, username and password to login to your Rovio. This files launches an instance of the rovio_move and rovio_head nodes. To launch these nodes, the following commands can be used:
Toggle line numbers
1 roscd rovio_ctrl
2 rosmake rovio_ctrl
3 roslaunch ctrl.launch
With the above nodes running, the keyboard teleoperation node (rovio_teleop) can be utilized with the following command:
Toggle line numbers
1 rosrun rovio_ctrl rovio_teleop
Support
Please feel free to contact me at any point with questions, comments, and bug reports.
