# 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)
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_*).

## Startup

- Make sure that the robot is turned on
- To run the python version
 ```
 source ~/minibot/catkin_ws/devel.setup.bash
 roscore &
 python3 ~/minibot/catkin_ws/src/sphero_rvr/spehro_rvr_hw/scripts/rvr-ros.py
 ```
- To run the cpp version 
 ```
 source ~/minibot/catkin_ws/devel.setup.bash
 catkin build
 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
 ```

## Moving the robot
- To move the robot publish on /cmd_vel (for testing you could use rqt)
- odom is updated by both the c++ and the python version