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How to set /dev/irobot_create as the Turtlebot base device

asked 2012-07-25 10:21:34 -0500

Since I have multiple USB devices attached I'd like to make sure that when I run minimal.launch it uses /dev/irobot_create rather than the default /dev/ttyUSB0. What's the best way to do this?

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answered 2012-07-25 16:03:23 -0500

You need to supply the port parameter in minimal.launch. See http://ros.org/wiki/turtlebot_node#Parameters

You'll have to change minimal.launch as follows:

FROM:

<!-- Turtlebot Driver -->
<node pkg="turtlebot_node" type="turtlebot_node.py" name="turtlebot_node" output="screen" respawn="true" args="--respawnable">
  <param name="bonus" value="false" />
  <param name="update_rate" value="30.0" />
</node>

TO:

<!-- Turtlebot Driver -->
<node pkg="turtlebot_node" type="turtlebot_node.py" name="turtlebot_node" output="screen" respawn="true" args="--respawnable">
  <param name="bonus" value="false" />
  <param name="update_rate" value="30.0" />
  <param name="port" value="/dev/irobot_create" />
</node>

The ROS wiki contains more documentation here if you want to read up on supplying parameters through launch files.

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Asked: 2012-07-25 10:21:34 -0500

Seen: 115 times

Last updated: Jul 25 '12