Raspimouse Node

ROS 2 node for the Raspberry Pi Mouse.

Build Status

master branch

Source Build Status on ROS2 Buildfarm

Foxy + Focal (foxy-devel)

raspimouse	raspimouse_msgs

Requirements

• Raspberry Pi Mouse
  • https://rt-net.jp/products/raspberrypimousev3/
  • RT Robot Shop
• Linux OS
  • Ubuntu server 20.04
  • https://ubuntu.com/download/raspberry-pi
• Device Driver
  • rt-net/RaspberryPiMouse
• ROS
  • Foxy Fitzroy

Installation

Binary Insallation

$ sudo apt install ros-$ROS_DISTRO-raspimouse

Source Build

$ cd ~/ros2_ws/src
# Clone package
$ git clone -b $ROS_DISTRO-devel 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 launch raspimouse raspimouse.launch.py

# Terminal 2
$ source ~/ros2_ws/install/setup.bash
# 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 service call /motor_power std_srvs/SetBool '{data: true}'
$ ros2 topic pub -1 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.1, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0.05}}'
# Shutdown
$ ros2 lifecycle set raspimouse shutdown

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: 0.1, 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.

Topics

Subscribed

• buzzer

Type: std_msgs/Int16

Used to control the buzzer. Provide a value in Hertz and the buzzer will emit that tone.

• cmd_vel

Type: geometry_msgs/Twist

Controls the motors. Specify the forward and turning speeds of the robot.

• leds

Type: raspimouse_msgs/Leds

Turns the four LEDs on the front of the robot on and off.

Published

• light_sensors

Type: raspimouse_msgs/LightSensors

Provides the raw values from the light sensors on the front of the robot.

• odom

Type: nav_msgs/Odometry

Provides odometry. If hardware pulse counters are available and the use_pulse_counters parameter is set to true, the odometry is calculated from the motor control pulse counts. Otherwise, the odometry is estimated based on the velocity commands given to the robot and elapsed time.

• switches

Type: raspimouse_msgs/Switches

Provides the status of each of the three push switches on the side of the robot.

Services

• motor_power

Type: std_srvs/SetBool

Call this service and pass true to enable the motors. Pass false to disable the motors.

Parameters

• odometry_scale_left_wheel

Type: double

Default: 1.0

Use to adjust the odometry input from the left wheel (when using pulse counters to calculate odometry). This is used to account for slight differences in wheel diameter and wheel slip between the left and right wheels.

• odometry_scale_right_wheel

Type: double

Default: 1.0

Use to adjust the odometry input from the right wheel (when using pulse counters to calculate odometry). This is used to account for slight differences in wheel diameter and wheel slip between the left and right wheels.

• use_light_sensors

Type: boolean

Default: true

Enable or disable the light sensors on the front of the robot.

• use_pulse_counters

Type: boolean

Default: false

Use hardware pulse counters as the odometry source. When set to true, hardware pulse counters will be used only if present.

• wheel_diameter

Type: double

Default: 0.048

Sets the diameter of the robot's wheel. The unit is in meters.

• wheel_tread

Type: double

Default: 0.0925

Sets the distance between the wheels. The unit is in meters.

• pulses_per_revolution

Type: double

Default: 400.0

Sets the number of pulses needed for 1 rotation of the used motor.

• light_sensors_hz

Type: double

Default: 100.0

Sets the frequency of the publishing rate of the topic light_sensors. The unit is in Hz.

• odom_hz

Type: double

Default: 100.0

Sets the frequency of the publishing rate of the topic odom. The unit is in Hz.

• switches_hz

Type: double

Default: 10.0

Sets the frequency of the publishing rate of the topic switches. The unit is in Hz.

• initial_motor_power

Type: bool

Default: False

Sets the initial state of the motor. If set as True, the motors will turn on when the raspimouse node becomes active.

• odom_frame_id

Type: string

Default: odom

Sets the frame_id of the topic odom.

• odom_child_frame_id

Type: string

Default: base_footprint

Sets the child_frame_id of the topic odom.

• odom_frame_prefix

Type: string

Default: {empty}

Adds prefix to the frames of the topic odom. If set as mouse, the frame_id and the child_frame_id will be mouse/odom and mouse/baes_footprint.

License

This repository is licensed under the Apache 2.0, see LICENSE for details.

Contributors

• Geoffrey Biggs (@gbiggs), original author
• Shota Hirama (@shotahirama)
• Yutaka Kondo (@youtalk)

Contributions are always welcome!