ROS Packages for Scout Mobile Robot

Packages

This repository contains minimal packages to control the scout robot using ROS.

scout_bringup: launch and configuration files to start ROS nodes
scout_base: a ROS wrapper around wrp_sdk to monitor and control the scout robot
scout_msgs: scout related message definitions

Communication interface setup

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

Note on CAN interface on Nvidia Jetson Platforms

Nvidia Jeston TX2/Xavier/XavierNX have CAN controller(s) integrated in the main SOC. If you're using a dev kit, you need to add a CAN transceiver for proper CAN communication.

Basic usage of the ROS package

Install dependent libraries

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

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_base.git
$ cd ..
$ catkin_make

Launch ROS nodes

Start the base node for the real robot
```
$ roslaunch scout_bringup scout_minimal.launch
```
The scout_bringup scout_minimal.launch has 4 parameters:
- port_name: Determines port to communicate with robot. Default = "can0"
- simulated_robot: Indicates if launching with a simulation. Default = "false"
- model_xacro: Indicates the target .xacro file for the publishing of tf frames. Default = scout_v2.xacro
- odom_topic_name: Sets the name of the topic which calculated odometry is published. Defaults = "odom"
or (if you're using a serial port)
```
$ roslaunch scout_bringup scout_minimal_uart.launch
```
- Similarly, the scout_bringup_uart.launch has the same 4 parameters with port_name default = "/dev/ttyUSB0".
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.

Summary of ROS packages

scout_minimal.launch: Creates ros node that

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