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Accessing Turtlebot iRobot Create Sensors

asked 2012-07-02 10:23:35 -0600

Rydel gravatar image

updated 2012-07-02 12:39:43 -0600

mjcarroll gravatar image

I noticed that when navigating with the gmapping demo or amcl demo that the turtlebot stops when the wheel drop sensors or bump sensors are active, just wondering if anyone knows what node takes care of this (move_base?) and what source file it can be found in.

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answered 2012-07-02 12:38:47 -0600

mjcarroll gravatar image

The Turtlebot handles this in the Turtlebot Node, which forms the ROS interface to the iRobot Create hardware.

The most relevant bits are:

Line 398 and forward, where if there is a cmd_vel to be sent to the hardware, it first executes the self.check_bumpers function at Line 429.

def check_bumpers(self, s, cmd_vel):
    # Safety: disallow forward motion if bumpers or wheeldrops
    # are activated.
    # TODO: check bumps_wheeldrops flags more thoroughly, and disable
    # all motion (not just forward motion) when wheeldrops are activated
    forward = (cmd_vel[0] + cmd_vel[1]) > 0
    if self.stop_motors_on_bump and s.bumps_wheeldrops > 0 and forward:
        return (0,0)
    else:
        return cmd_vel

The actual hardware interaction is taking place in the roomba_sensor_handler.py file or the create_sensor_handler.py file, also in the turtlebot_node package.

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thanks a lot

Rydel gravatar imageRydel ( 2012-07-03 05:23:49 -0600 )edit

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Asked: 2012-07-02 10:23:35 -0600

Seen: 708 times

Last updated: Jul 02 '12