= Robo Explorer ROS Connector =
<<TOC(4)>>

== Package Summary ==

This is a ROS Stack to control the fischertechnik Robo Explorer with ROS using [[http://defiant.homedns.org/~erik/ft/libft/|liboboint]].

 * Author: Erik Andresen
 * License: GNU GPL3
 * Source: git clone https://github.com/nxdefiant/ros_roboint.git

You need to use the Robo Explorer with Wheels instead of Tracks because the Tracks are too inaccurate for Odometry.
I used the Wheel Setup from Mobile Robots 2.

== Tutorials ==
See https://github.com/nxdefiant/ros_roboint

== Nodes ==

=== libft_adapter ===

{{{libft_adapter}}} accesses the Interface over libroboint.

==== Published Topics ====

{{{ft/get_inputs}}} - (bool[8] inputs, int8[8] outputs, AX, AY, A1, A2, AV, D1, D2 - all int16)
   Digital (Count from zero) and Analog Inputs of the Robo Interface.
   The current output states are included.

==== Subscribed Topics ====

{{{ft/set_output}}} - (num (int32), speed (int32))
   Individual Outputs of the Robo Interface (Count from zero)

{{{ft/set_motor}}} - (num (int32), speed (int32))
   Motor Outputs of the Robo Interface (Count from zero)

==== Parameters ====


=== robo_explorer.py ===

{{{robo_explorer.py}}} provides the Robo Explorer functions.
Publishes {{{ft/set_motor}}} and subscribes to {{{ft/get_inputs}}}

==== Published Topics ====

{{{scan}}} - (sensor_msgs/LaserScan)
    Laserscan data faked by the Sonar Sensor.

{{{odom}}} - (nav_msgs/Odometry)
    Odometry information.

==== Subscribed Topics ====

{{{cmd_vel}}} - (geometry_msgs/Twist)
   Celocity commands.

==== Parameters ====
{{{~ultrasonic_laser}}} - (boolean, default: True)
    Fake laser scan with ultra sonic range finder.

{{{~wheel_dist}}} - (float, default: 0.1855)
    Distance between both wheels in meter.

{{{~wheel_size}}} - (float, default: 0.02575)
    Size of wheel Diameter in meter. Default: (5.15cm) * gear ratio (0.5) = 2.575cm

{{{~speed_gradiant}}} - (float, default: 64.3)
    Speed to PWM equation gradiant (The m in pwm = speed*m+b)

{{{~speed_constant}}} - (float, default: -1.7)
    Speed to PWM equation constant (The b in pwm = speed*m+b)

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