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Log and print Clearpath Husky sensor data with ROS and joy node

asked 2013-07-29 00:53:44 -0500

Marcus Barnet gravatar image

updated 2014-04-20 14:09:47 -0500

ngrennan gravatar image


I'm driving Husky A200 by using a joystick with this command:

roslaunch clearpath_teleop example.launch

everything works OK, but I would like to print in the shell and also write in a text file the current used by the motors, the temperature and in particular the linear and angular velocity.

I know that clearpath_teleop cmd_vel publishes some information, but how can I read them and save them in a text file?

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answered 2013-08-01 18:45:17 -0500

rosbag can be used to save data that is published. There is logging for C++ & Python. I don't believe that the Husky publishes motor current and temperature.

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answered 2014-03-07 13:36:37 -0500

Ryan gravatar image

@tony is correct that rosbag is the best way to do it. Use "rostopic list" and "rostopic echo" ahead of time to look at the available topics. The Husky does make data available in other topics, including motor temperature, current, and voltages.

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Sorry for not checking if it did, I forgot to check.

tonybaltovski gravatar image tonybaltovski  ( 2014-03-07 15:30:16 -0500 )edit

answered 2013-08-01 18:26:43 -0500

Zee-Q gravatar image


I have no experience with Husky but generally Ros robot publishes all of the information as Ros Topic / Service. So i will suggest to go through the basic Ros tutorials here and see how these works.

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Asked: 2013-07-29 00:53:44 -0500

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Last updated: Mar 07 '14