scout_ros/README.md

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_robot: meta package for the Scout robot ROS packages)

Basic Usage

1. Install dependent ROS packages

   $ sudo apt install ros-melodic-controller-manager
   $ sudo apt install ros-melodic-teleop-twist-keyboard
   

   Change ros-melodic-* in the command to ros-kinetic-* if you're using ROS Kinetic.

2. 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/scout_ros.git
   $ cd ..
   $ catkin_make
   

3. Launch ROS nodes

• Start the base node

  $ roslaunch scout_bringup scout_minimal.launch
  

• Start the keyboard tele-op node

  $ roslaunch scout_bringup scout_teleop_keyboard.launch