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I have a mobile robot that isn't currently supported by ROS. How should I structure the driver node(s) to expose my robot's integrated sensors and actuators?

asked 2011-11-07 11:36:27 -0500

mmwise gravatar image

Please help in writing up a ROS best practice.

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Should we create a wiki page with a tutorial for this answer? If so where should it be created (under the http://ros.org/wiki/Robots page)?

Gonçalo Cabrita gravatar imageGonçalo Cabrita ( 2012-08-30 05:08:02 -0500 )edit
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That seems like a good place for a link, at least. "Want to add a robot to this list? Here's how."

joq gravatar imagejoq ( 2012-08-30 07:37:38 -0500 )edit

Great suggestion !!

Arkapravo gravatar imageArkapravo ( 2012-10-09 20:02:58 -0500 )edit

I think it's hard to give a general answer. I would use a different software design for a simple robot such as a Roomba (i.e. one node per sensor) than for something like the PR2 (something like pr2_controller_manager and pr2_etherCAT).

Lorenz gravatar imageLorenz ( 2012-10-09 22:40:57 -0500 )edit

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answered 2012-10-09 06:44:11 -0500

this post is marked as community wiki

This post is a wiki. Anyone with karma >75 is welcome to improve it.

Although this isn't yet a tutorial, http://ros.org/wiki/Robots

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(so that this wasn't still listed as an unanswered question...)

SL Remy gravatar imageSL Remy ( 2012-10-09 06:45:07 -0500 )edit

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Asked: 2011-11-07 11:36:27 -0500

Seen: 1,288 times

Last updated: Oct 09 '12