magabot-idmind-ros

Arduino code and ROS packages for the IdMind Magabot robot.

FOLDERS

Magabot_SerialControl -> Arduino sketches for interfacing with the robot hardware.

magabot -> Arduino library for "Magabot_SerialControl.ino".

src -> magabot and cereal_port ROS packages (for a catkin style workspace).

Installation

This guide details the steps to correctly configure a Magabot robot under a Linux system with ROS:

1. Install ROS and create_a_workspace.

2. Download the idmind magabot driver into the src folder of the workspace.

$ git clone https://github.com/robotics-upo/magabot-idmind-ros

3. Then, compile it.

$ cd ..

$ catkin_make

4. Add additional ROS stuff (replace to your distro)

   $ sudo apt-install ros-<distro>-joy ros-<distro>-urg-node
   

5. Add user to “dialout” group in order to be able to open the Hokuyo laser port:

   $ sudo adduser <user> dialout
   

6. Reboot the system

7. Now you can launch the “magabot.launch” which will launch the laser, the driver, the joystick and the IMU. This way, you can teleoperate the robot.

   $ roslaunch magabot magabot.launch