Commit 7c123404 authored by Simon Markus Haller-Seeber's avatar Simon Markus Haller-Seeber
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Update README.md

parent 05e13665
# RVR Sphero # Sphero RVR
## Sphero RVR
This ros modules contain an experimental ROS Node for the Sphero RVR. This ros modules contain an experimental ROS Node for the Sphero RVR.
The cpp version is based on Rud Merriam's "RVR CPP" https://bitbucket.org/rmerriam/rvr-cpp/src/master/ (see sphero_rvr_hw/src/base_controller.cpp). The python(3) version is based on the official Sphero RVR Pyhton SDK (see sphero_rvr_hw/scripts/rvr-ros.py) The cpp version is based on Rud Merriam's "RVR CPP" https://bitbucket.org/rmerriam/rvr-cpp/src/master/ (see sphero_rvr_hw/src/base_controller.cpp). The python(3) version is based on the official Sphero RVR Pyhton SDK (see sphero_rvr_hw/scripts/rvr-ros.py)
Both version use /cmd_vel and publish to odom. Both version use /cmd_vel and publish to odom.
There is still no real ros_control package (the stubs are already there - see sphero_rvr_hw/src/sphero_rvr_*). There is still no real ros_control package (the stubs are already there - see sphero_rvr_hw/src/sphero_rvr_*).
## Startup
### Startup
To run the python version: To run the python version:
- source ~/minibot/catkin_ws/devel.setup.bash - ``source ~/minibot/catkin_ws/devel.setup.bash``
- start a roscore - start a ``roscore``
- python3 ~/minibot/catkin_ws/src/sphero_rvr/spehro_rvr_hw/scripts/rvr-ros.py - ``python3 ~/minibot/catkin_ws/src/sphero_rvr/spehro_rvr_hw/scripts/rvr-ros.py``
To run the cpp version To run the cpp version
- source ~/minibot/catkin_ws/devel.setup.bash - ``source ~/minibot/catkin_ws/devel.setup.bash``
- catkin build - ``catkin build``
- roslaunch sphero_rvr_hw rvr_ros.launch - ``roslaunch sphero_rvr_hw rvr_ros.launch``
To load the urdf (depending on what you want to do)
- ``source ~/minibot/catkin_ws/devel.setup.bash``
- ``roslaunch sphero_rvr_descritipon display.launch`` or
- ``roslaunch sphero_rvr_descritipon sphero_rvr.launch``
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