ROS Packages for Scout Mobile Base

Packages

scout_bringup: launch and configuration files to start ROS nodes
scout_base: a ROS wrapper around Scout SDK to monitor and control the robot
scout_msgs: scout related message definitions
(scout_ros: meta package for the Scout robot ROS packages)

The following diagram may help you to understand how the components are inter-connected with each other:

The purple blocks represent ROS packages included within this repository.

Communication interface setup

Please refer to the README of "wrp_sdk" package for setup of communication interfaces.

Basic usage of the ROS package

Install dependent libraries

<<<<<<< HEAD $ sudo apt install libasio-dev $ sudo apt install ros-$ROS_DISTRO-teleop-twist-keyboard

$ sudo apt install ros-melodic-teleop-twist-keyboard
$ sudo apt-get install ros-melodic-joint-state-publisher-gui
$ sudo apt install ros-melodic-ros-controllers

scout_sim ```

Clone the packages into your catkin workspace and compile

(the following instructions assume your catkin workspace is at: ~/catkin_ws/src)

$ cd ~/catkin_ws/src
$ git clone https://github.com/westonrobot/wrp_sdk.git
$ git clone https://github.com/westonrobot/scout_ros.git
$ cd ..
$ catkin_make

Launch ROS nodes

Start the base node for the real robot

$ roslaunch scout_bringup scout_minimal.launch

or (if you're using a serial port)

$ roslaunch scout_bringup scout_minimal_uart.launch

<<<<<<< HEAD

Start the Webots-based simulation (Scout V1)

$ roslaunch scout_bringup scout_base_webots_sim.launch

Start the Gazebo-based simulation (Scout V2)

$ roslaunch scout_bringup scout_base_gazebo_sim.launch

scout_sim

Start the keyboard tele-op node
```
$ roslaunch scout_bringup scout_teleop_keyboard.launch
```
SAFETY PRECAUSION:

The default command values of the keyboard teleop node are high, make sure you decrease the speed commands before starting to control the robot with your keyboard! Have your remote controller ready to take over the control whenever necessary.

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