raspimouse_description

ROS package with URDF description macro for Raspberry Pi Mouse

This ROS package was separated from rt-net/raspimouse_sim. See details from rt-net/raspimouse_sim#42.

The main development branch for ROS 1 is master. The main development branch for ROS 2 is ros2.

Supported ROS distributions

• Humble (humble)
• Jazzy (jazzy)

Installation

# Clone raspimouse_description and install dependencies
cd ~/ros2_ws/src
git clone -b $ROS_DISTRO https://github.com/rt-net/raspimouse_description
rosdep install -r -y -i --from-paths .

# Build the package
cd ~/ros2_ws
colcon build --symlink-install
source install/setup.bash

How to Use

Display a Raspberry Pi Mouse robot model on RViz2 with the following command:

ros2 launch raspimouse_description display.launch.py

You can also display a LiDAR mounted robot model with the following command:

ros2 launch raspimouse_description display.launch.py lidar:=rplidar

The lidar option supports urg, lds, and rplidar.

Similarly, display a RGB Camera mounted robot model with the following command:

ros2 launch raspimouse_description display.launch.py use_rgb_camera:=true

RGB Camera can be pointed down with the following command:

ros2 launch raspimouse_description display.launch.py use_rgb_camera:=true camera_downward:=true

LICENSE

(C) 2016-2022 RT Corporation

This repository is licensed under the MIT license, see LICENSE. Unless attributed otherwise, everything in this repository is under the MIT license.

Acknowledgements

Special thanks to https://gbiggs.github.io/rosjp_urdf_tutorial_text/index.html

The file robotis_lds01.stl is released from ROBOTIS and licensed under the Apache License 2.0. The original file is released in turtlebot3_description package.

Changelog for package raspimouse_description

2.0.0 (2024-11-08)

• Support ROS 2 Jazzy (#55) Co-authored-by: Kazushi Kurasawa <<Kurasawa@rt-net.jp>>
• Replace [ign]{.title-ref} to [gz]{.title-ref}
• Updated the remapping for subscription to reflect the removal of [unstamped]{.title-ref} from ros2_controllers
• Contributors: YusukeKato

1.2.0 (2024-03-05)

• シミュレータ環境でscanトピックをpublish (#52)
• camera_downwardがtrueのときRGBカメラが斜め下を向くように変更 (#50) Co-authored-by: Shota Aoki <<s.aoki@rt-net.jp>>
• READMEにRGBカメラを表示するコマンドを追記 (#47)
• Gazebo上で画像トピックを配信できるように変更 (#46)
• RGBカメラのモデルを表示できるように変更 (#45) Co-authored-by: Shota Aoki <<s.aoki@rt-net.jp>>
• cmd_velとodomのトピック名をremapping (#44)
• controller managerが起動するように変更 (#43) Co-authored-by: Shota Aoki <<s.aoki@rt-net.jp>>
• robot_description_loaderを実装 (#42) Co-authored-by: Daisuke Sato <<daisuke.sato@rt-net.jp>>
• Contributors: YusukeKato

1.1.0 (2023-11-07)

• READMEにRGBカメラを表示するコマンドを追記 (#47)
• Gazebo上で画像トピックを配信できるように変更 (#46)
• RGBカメラのモデルを表示できるように変更 (#45) Co-authored-by: Shota Aoki <<s.aoki@rt-net.jp>>
• cmd_velとodomのトピック名をremapping (#44)
• controller managerが起動するように変更 (#43) Co-authored-by: Shota Aoki <<s.aoki@rt-net.jp>>
• robot_description_loaderを実装 (#42) Co-authored-by: Daisuke Sato <<daisuke.sato@rt-net.jp>>
• Contributors: YusukeKato

1.0.1 (2023-01-31)

• Updates README
• Update the license year to 2022
• Adds LiDAR (#38)
• Update library to rviz2 (#36)
• Update tread (ROS 2) (#32)
• Update README for ROS 2 (#26)
• Support ROS 2 Foxy (#24)
• Create LICENSE
• Contributors: Daisuke Sato, Shota Aoki, Shuhei Kozasa