raspigibbon_ros

About

ROS package suites of Raspberry Pi Gibbon Controller

Requirements

requires the following to run controller on Raspberry Pi 3:

• Ubuntu
  • Ubuntu Xenial 16.04
    • Ubuntu MATE 16.04.1 recomended
• ROS
  • ROS Kinetic
• Device Driver
  • raspigibbon_driver

Installation

Raspberry Pi on Raspberry Pi Gibbon

First, install the latest stable version of ROS Kinetic.

sudo apt install ros-kinetic-ros-base

Next, install the latest stable version of raspigibbon_driver.

cd ~/
git clone https://github.com/Tiryoh/raspigibbon_driver_installer.git
cd raspigibbon_driver_installer
sudo make install

Then, download this repository into ~/catkin_ws/src and build it.

cd ~/catkin_ws/src
git clone https://github.com/raspberrypigibbon/raspigibbon_ros.git
cd ~/catkin_ws && catkin_make && source ~/catkin_ws/devel/setup.bash

Ubuntu x64

First, install the latest stable version of ROS Kinetic.

sudo apt install ros-kinetic-desktop-full

Next, download this repository into ~/catkin_ws/src and build it.

cd ~/catkin_ws/src
git clone https://github.com/raspberrypigibbon/raspigibbon_ros.git
cd ~/catkin_ws && catkin_make && source ~/catkin_ws/devel/setup.bash

Usage

Raspberry Pi on Raspberry Pi Gibbon

joint data publisher mode

roslaunch raspigibbon_bringup raspigibbon_joint_publisher.launch

joint data subscriber mode

roslaunch raspigibbon_bringup raspigibbon_joint_subscriber.launch

Ubuntu x64

joint data publisher mode

roslaunch raspigibbon_description display_urdf.launch
roslaunch raspigibbon_bringup rviz_joint_publisher.launch

joint data subscriber mode

roslaunch raspigibbon_description display_urdf.launch
roslaunch raspigibbon_bringup rviz_joint_subscriber.launch

License

This repository is licensed under the MIT license, see LICENSE.

Unless attributed otherwise, everything is under the MIT license.

Includings

• Tiryoh/RS30X - MIT license
  • futaba_serial_servo package