# pibot_bringup

**Repository Path**: pibot/pibot_bringup

## Basic Information

- **Project Name**: pibot_bringup
- **Description**: pibot driver
- **Primary Language**: Unknown
- **License**: Apache-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 6
- **Forks**: 5
- **Created**: 2021-03-21
- **Last Updated**: 2024-12-20

## Categories & Tags

**Categories**: Uncategorized

**Tags**: ROS, ros2, cyberrt

## README

# PIBOT DRIVER ROS package
ROS node and test application for PIBOT DRIVER

# How to build pibot driver ros package
- 1) Clone this project to your catkin's workspace src folder
- 2) Running catkin_make to build pibot driver Node

# How to run pibot bringup ros package
- `roslaunch pibot_bring bringup.launch`

# Configure pibot dirver board
`rosrun rqt_reconfigure rqt_reconfigure`

# Control robot with pibot dirver
- with keyboard
`rosrun teleop_twist_keyboard teleop_twist_keyboard.py`
- with joystick
    > install dependent package 
        `sudo apt-get install ros-$ROS_DISTRO-joy ros-$ROS_DISTRO-teleop-twist-joy`
    - non-holonomic robot 
        `roslaunch pibot_bringup joystick.launch`
    - holonomic robot 
        `roslaunch pibot_bringup joystick.launch holonomic:=true`

# Topic

- pub topic

| topic | type |
| :----: | :----: |
| `/odom` | [nav_msgs/Odometry](http://docs.ros.org/en/kinetic/api/nav_msgs/html/msg/Odometry.html) |
| `/imu/data_raw` | [sensor_msgs/Imu](http://docs.ros.org/en/api/sensor_msgs/html/msg/Imu.html) |
| `/imu/mag` | [sensor_msgs/MagneticField](http://docs.ros.org/en/api/sensor_msgs/html/msg/MagneticField.html) |

- sub topic

| topic | type |
| :----: | :----: |
| `/cmd_vel` | [geometry_msgs/Twist](http://docs.ros.org/en/api/geometry_msgs/html/msg/Twist.html) |