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base_controller package from android_base_controller repo

base_controller

Package Summary

Tags No category tags.
Version 0.1.4
License Apache 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/creativa77/base_controller.git
VCS Type git
VCS Version master
Last Updated 2014-04-10
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A base controller for doing Android base robots using ROS.

Additional Links

No additional links.

Maintainers

  • Lucas Chiesa

Authors

No additional authors.

base_controller

This base controller for ROS on Android allows the user to drive the Kobuki or Create bases from an Android device directly connected to the desired base via USB.

Building

To build this package you can just use gradlew from the command line, or you can put the package inside a catkin workspace and built it with catkin_make.

Requirements

In order to use this code to drive a Create or a Kobuki base, an Android device with USB On The Go (OTG) is needed. A usb-otg cable is also needed.

We tested this code in:

  • Nexus 7
  • Nexus 7 2013
  • Galaxy S4 Google Edition

Usage

These code fragments show how to use this package to create a Kobuki driver in an ROS Activity. For the Create base you should simple replace Kobuki with Create.

Import the USB library:

import com.hoho.android.usbserial.driver.UsbSerialDriver;
import com.hoho.android.usbserial.driver.UsbSerialProber;

Import the ROS nodes and the base drivers:

import com.github.c77.base_controller.BaseControllerNode;
import com.github.c77.base_controller.BaseStatusPublisher;
import com.github.c77.base_driver.kobuki.KobukiBaseDevice;

You can instantiate the nodes when creating the Main ROS Activity:

public MainActivity() {
    super("MainActivity", "MainActivity");
    baseControllerNode = new BaseControllerNode("/cmd_vel");
    baseStatusPublisher = new BaseStatusPublisher();
}

In the init method of the Node, we use the USB library to find the device and create the base driver. After creating the base driver, we can set the device to the two nodes.

// Get UsbManager from Android.
UsbManager manager = (UsbManager) getSystemService(Context.USB_SERVICE);
// Find the first available driver.
UsbSerialDriver driver = UsbSerialProber.findFirstDevice(manager);
// Create the low level base device.
KobukiBaseDevice kobukiBaseDevice = new KobukiBaseDevice(driver);
baseControllerNode.setBaseDevice(kobukiBaseDevice);
baseStatusPublisher.setBaseDevice(kobukiBaseDevice);

After this point use the nodeMainExecutor to launch the nodes.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps Name
1 android_core
1 rosjava_build_tools
0 usb_serial_for_android
1 catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged base_controller at Robotics Stack Exchange

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