Moving robots of Tonyrobotics company

trd_driver

trd_driver package provides a usb-serial(TTL) motor driver for Abel05/Abel05x, Abel10, Abel30 and Xiaobai moving robots of Tonyrobotics.

Put the package in your ROS workspace and build:

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ git clone https://github.com/tonyrobotics/trbase.git

$ cd ~/catkin_ws
$ catkin_make

Then create udev rules of TRD motor driver.

$ cd ~/catkin_ws/src/trbase/trd_driver/udev
$ sudo sh create_udev_rules.sh

Connect TRD board to USB port and test the code:

$ roscore

$ rosrun trd_driver trd_driver.py

Abel05/Abel05x

• For keyboard control:

$ roslaunch abel05_navigation controller.launch

Open a new ternimal,

$ rosrun trd_driver keyboard_teleop.py

• For mapping:

$ roslaunch abel05_navigation mapping.launch

• For navigation:

$ roslaunch abel05_navigation navigation.launch

xiaobai

• For keyboard control:

$ roslaunch xiaobai_navigation controller.launch

Open a new ternimal,

$ rosrun trd_driver keyboard_teleop.py

• For mapping:

$ roslaunch xiaobai_navigation mapping.launch

• For navigation:

$ roslaunch xiaobai_navigation navigation.launch

usb camera

To open the usb camera on the robot,:

$ roscore

Then open a new terminal:

$ rosrun usb_cam usb_cam_node _video_device:='/dev/video0'

On your PC, start image view:

$ rqt_image_view