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designing a ROS diffdrive Robot with rosjava

asked 2012-05-06 07:33:08 -0600

Jérôme Monceaux gravatar image

updated 2012-05-06 07:38:36 -0600

I'm currently designing an android robot. I want it to be as much as possible compatible with ROS.

It is a simple differential drive robot with a good odometric precision and sharp sensors. I would like to know if there is ROS standard node and topic list for diff drive robot?

There is many msg I could be compatible with : pose/ pose2D / posewithcovariance / twist / ...

Of course, I would like my robot being compatible with many stacks, especially Navigation and teleop stack.

I understood that I need to design rviz robot model, is rviz robot model a good starting point?

I'm reading the ROS documentation, but for know I didn't found any specifications that define a standard topics, services and param list.

That would be perfect, if I could have a standard that define : standard node's list / standard services and param / standard topic with type

If no standard like this exists, is there a simple reference ROS robot code that could help?

Sorry for this newbie's question...

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answered 2012-05-06 15:22:08 -0600

weiin gravatar image

You could look through the codes of some of these robots. I personally referred quite a bit to the turtlebot's because the tutorial is quite complete.

My own experience in working on differential drive robot: here. I did not start with the robot model though. That came quite late into the development because I was eager to see things moving.

I would think the topic cmd_vel (geometry_msgs/Twist) is a good starting point, since both the teleop and navigation uses it to control the robot.

Another good reference I found by mwise of willow garage: here

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Asked: 2012-05-06 07:33:08 -0600

Seen: 737 times

Last updated: May 06 '12