Raspimouse Node

ROS 2 node for the Raspberry Pi Mouse.

Requirements

• Raspberry Pi Mouse
  • https://rt-net.jp/products/raspberrypimousev3/
  • RT Robot Shop
• Linux OS
  • Ubuntu server 18.04
  • https://wiki.ubuntu.com/ARM/RaspberryPi
• Device Driver
  • rt-net/RaspberryPiMouse
• ROS
  • Dashing Diademata

Installation

$ cd ~/ros2_ws/src
# Clone package
$ git clone https://github.com/rt-net/raspimouse2

# Install dependencies
$ rosdep install -r -y -i --from-paths .

# Build & Install
$ cd ~/ros2_ws
$ colcon build --symlink-install
$ source ~/ros2_ws/install/setup.bash

QuickStart

# Terminal 1
$ source ~/ros2_ws/install/setup.bash
$ ros2 run raspimouse raspimouse


# Terminal 2
$ source ~/ros2_ws/install/setup.bash
$ ros2 lifecycle set raspimouse configure

# Set buzzer frequency
$ ros2 topic pub -1 /buzzer std_msgs/msg/Int16 '{data: 1000}'
$ ros2 topic pub -1 /buzzer std_msgs/msg/Int16 '{data: 0}'

# or rotate motors
$ ros2 lifecycle set raspimouse activate
$ ros2 service call /motor_power std_srvs/SetBool '{data: true}'
$ ros2 topic pub -1 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.05, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0.05}}'
$ ros2 lifecycle set raspimouse deactivate

Node Description

This is a managed-lifecycle node. The node must be configured and activated after being launched before the robot can be used. If running the node manually, after launching the node execute the following command to configure it:

$ ros2 lifecycle set raspimouse configure

If configuration succeeds, execute the following command to activate the node:

$ ros2 lifecycle set raspimouse activate

The robot can now be controlled and sensor information will be published.

The node can be deactivated using the following command:

$ ros2 lifecycle set raspimouse deactivate

This will disable publishing sensor data and stop the motors.

When the node is active, motor functionality can be tested by turning on the motors and sending a velocity command.

$ ros2 service call /motor_power std_srvs/SetBool '{data: true}'
$ ros2 topic pub -1 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.05, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0.05}}'

Odometry information can be checked by echoing the odom topic.

$ ros2 topic echo /odom

Similarly other sensor information can also be viewed by echoing the relevant topic.

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