Repository Summary

Checkout URI https://github.com/whill-labs/ros2_whill.git
VCS Type git
VCS Version humble
Last Updated 2024-12-16
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
whill 0.0.1
whill_bringup 0.0.1
whill_description 0.0.1
whill_driver 0.0.1
whill_examples 0.0.1

README

whill

About

The “whill” is a ROS2 package for WHILL Model CR2.

<img width=22% title=”WHILL Model CR2” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/387a8aac-3808-4727-895d-9857059ee342”> <img width=24% title=”Wheeled Robot Base” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/6a63ed45-9e0c-40ca-b71c-8dff614af141”>

We also have Model CR Series Technical Support for current and potential Model CR series users.

Attention:
This package on humble branch only provides common functions for all models.
If you want to use features that are only available in WHILL Model CR, you will need to use crystal-devel branch.

Requirements

  • Host device
    • Linux OS: Ubuntu 22.04
    • ROS2: Humble Hawksbill (humble)
  • Target device
    • WHILL Model CR2 (Note that Model C2 does not have any serial ports)

Getting started

  1. Download projects
  2. Configure your serial port
  3. Build project
  4. Launch
    4-(A). With the bringup package
    4-(B). With ‘run’ command

1. Download projects

cd ~/<your_ros2_ws>/src
git clone https://github.com/whill-labs/ros2_whill_interfaces.git
git clone https://github.com/whill-labs/ros2_whill.git

2. Configure your serial port

If your serial port is not /dev/ttyUSB0, please edit port_name in the following file:

~/<your_ros2_ws>/src/ros2_whill/whill_bringup/config/params.yaml

3. Build project

colcon build --packages-up-to whill
. install/setup.bash

4. Launch

(A) With the bringup package

ros2 launch whill_bringup whill_launch.py

(B) With ‘run’ command

ros2 run whill_driver whill

Note: If your serial port is not /dev/ttyUSB0, for example /dev/ttyUSB1, please run the following command instead of the one above:

ros2 run whill_driver whill --ros-args -p port_name:=/dev/ttyUSB1

ROS2 APIs

Publish

Topic name Message type Work
/whill/states/model_cr2 whill_msgs/ModelCr2State Notify WHILL states

Subscription

Topic name Message type Work
/whill/controller/joy sensor_msgs/Joy Give WHILL a virtual joystick input
/whill/controller/cmd_vel geometry_msgs/Twist Give WHILL a direct velocity input

Service

File truncated at 100 lines see the full file

No version for distro jazzy showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/whill-labs/ros2_whill.git
VCS Type git
VCS Version humble
Last Updated 2024-12-16
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
whill 0.0.1
whill_bringup 0.0.1
whill_description 0.0.1
whill_driver 0.0.1
whill_examples 0.0.1

README

whill

About

The “whill” is a ROS2 package for WHILL Model CR2.

<img width=22% title=”WHILL Model CR2” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/387a8aac-3808-4727-895d-9857059ee342”> <img width=24% title=”Wheeled Robot Base” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/6a63ed45-9e0c-40ca-b71c-8dff614af141”>

We also have Model CR Series Technical Support for current and potential Model CR series users.

Attention:
This package on humble branch only provides common functions for all models.
If you want to use features that are only available in WHILL Model CR, you will need to use crystal-devel branch.

Requirements

  • Host device
    • Linux OS: Ubuntu 22.04
    • ROS2: Humble Hawksbill (humble)
  • Target device
    • WHILL Model CR2 (Note that Model C2 does not have any serial ports)

Getting started

  1. Download projects
  2. Configure your serial port
  3. Build project
  4. Launch
    4-(A). With the bringup package
    4-(B). With ‘run’ command

1. Download projects

cd ~/<your_ros2_ws>/src
git clone https://github.com/whill-labs/ros2_whill_interfaces.git
git clone https://github.com/whill-labs/ros2_whill.git

2. Configure your serial port

If your serial port is not /dev/ttyUSB0, please edit port_name in the following file:

~/<your_ros2_ws>/src/ros2_whill/whill_bringup/config/params.yaml

3. Build project

colcon build --packages-up-to whill
. install/setup.bash

4. Launch

(A) With the bringup package

ros2 launch whill_bringup whill_launch.py

(B) With ‘run’ command

ros2 run whill_driver whill

Note: If your serial port is not /dev/ttyUSB0, for example /dev/ttyUSB1, please run the following command instead of the one above:

ros2 run whill_driver whill --ros-args -p port_name:=/dev/ttyUSB1

ROS2 APIs

Publish

Topic name Message type Work
/whill/states/model_cr2 whill_msgs/ModelCr2State Notify WHILL states

Subscription

Topic name Message type Work
/whill/controller/joy sensor_msgs/Joy Give WHILL a virtual joystick input
/whill/controller/cmd_vel geometry_msgs/Twist Give WHILL a direct velocity input

Service

File truncated at 100 lines see the full file

No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/whill-labs/ros2_whill.git
VCS Type git
VCS Version humble
Last Updated 2024-12-16
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
whill 0.0.1
whill_bringup 0.0.1
whill_description 0.0.1
whill_driver 0.0.1
whill_examples 0.0.1

README

whill

About

The “whill” is a ROS2 package for WHILL Model CR2.

<img width=22% title=”WHILL Model CR2” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/387a8aac-3808-4727-895d-9857059ee342”> <img width=24% title=”Wheeled Robot Base” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/6a63ed45-9e0c-40ca-b71c-8dff614af141”>

We also have Model CR Series Technical Support for current and potential Model CR series users.

Attention:
This package on humble branch only provides common functions for all models.
If you want to use features that are only available in WHILL Model CR, you will need to use crystal-devel branch.

Requirements

  • Host device
    • Linux OS: Ubuntu 22.04
    • ROS2: Humble Hawksbill (humble)
  • Target device
    • WHILL Model CR2 (Note that Model C2 does not have any serial ports)

Getting started

  1. Download projects
  2. Configure your serial port
  3. Build project
  4. Launch
    4-(A). With the bringup package
    4-(B). With ‘run’ command

1. Download projects

cd ~/<your_ros2_ws>/src
git clone https://github.com/whill-labs/ros2_whill_interfaces.git
git clone https://github.com/whill-labs/ros2_whill.git

2. Configure your serial port

If your serial port is not /dev/ttyUSB0, please edit port_name in the following file:

~/<your_ros2_ws>/src/ros2_whill/whill_bringup/config/params.yaml

3. Build project

colcon build --packages-up-to whill
. install/setup.bash

4. Launch

(A) With the bringup package

ros2 launch whill_bringup whill_launch.py

(B) With ‘run’ command

ros2 run whill_driver whill

Note: If your serial port is not /dev/ttyUSB0, for example /dev/ttyUSB1, please run the following command instead of the one above:

ros2 run whill_driver whill --ros-args -p port_name:=/dev/ttyUSB1

ROS2 APIs

Publish

Topic name Message type Work
/whill/states/model_cr2 whill_msgs/ModelCr2State Notify WHILL states

Subscription

Topic name Message type Work
/whill/controller/joy sensor_msgs/Joy Give WHILL a virtual joystick input
/whill/controller/cmd_vel geometry_msgs/Twist Give WHILL a direct velocity input

Service

File truncated at 100 lines see the full file

No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/whill-labs/ros2_whill.git
VCS Type git
VCS Version humble
Last Updated 2024-12-16
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
whill 0.0.1
whill_bringup 0.0.1
whill_description 0.0.1
whill_driver 0.0.1
whill_examples 0.0.1

README

whill

About

The “whill” is a ROS2 package for WHILL Model CR2.

<img width=22% title=”WHILL Model CR2” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/387a8aac-3808-4727-895d-9857059ee342”> <img width=24% title=”Wheeled Robot Base” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/6a63ed45-9e0c-40ca-b71c-8dff614af141”>

We also have Model CR Series Technical Support for current and potential Model CR series users.

Attention:
This package on humble branch only provides common functions for all models.
If you want to use features that are only available in WHILL Model CR, you will need to use crystal-devel branch.

Requirements

  • Host device
    • Linux OS: Ubuntu 22.04
    • ROS2: Humble Hawksbill (humble)
  • Target device
    • WHILL Model CR2 (Note that Model C2 does not have any serial ports)

Getting started

  1. Download projects
  2. Configure your serial port
  3. Build project
  4. Launch
    4-(A). With the bringup package
    4-(B). With ‘run’ command

1. Download projects

cd ~/<your_ros2_ws>/src
git clone https://github.com/whill-labs/ros2_whill_interfaces.git
git clone https://github.com/whill-labs/ros2_whill.git

2. Configure your serial port

If your serial port is not /dev/ttyUSB0, please edit port_name in the following file:

~/<your_ros2_ws>/src/ros2_whill/whill_bringup/config/params.yaml

3. Build project

colcon build --packages-up-to whill
. install/setup.bash

4. Launch

(A) With the bringup package

ros2 launch whill_bringup whill_launch.py

(B) With ‘run’ command

ros2 run whill_driver whill

Note: If your serial port is not /dev/ttyUSB0, for example /dev/ttyUSB1, please run the following command instead of the one above:

ros2 run whill_driver whill --ros-args -p port_name:=/dev/ttyUSB1

ROS2 APIs

Publish

Topic name Message type Work
/whill/states/model_cr2 whill_msgs/ModelCr2State Notify WHILL states

Subscription

Topic name Message type Work
/whill/controller/joy sensor_msgs/Joy Give WHILL a virtual joystick input
/whill/controller/cmd_vel geometry_msgs/Twist Give WHILL a direct velocity input

Service

File truncated at 100 lines see the full file

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/whill-labs/ros2_whill.git
VCS Type git
VCS Version humble
Last Updated 2024-12-16
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
whill 0.0.1
whill_bringup 0.0.1
whill_description 0.0.1
whill_driver 0.0.1
whill_examples 0.0.1

README

whill

About

The “whill” is a ROS2 package for WHILL Model CR2.

<img width=22% title=”WHILL Model CR2” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/387a8aac-3808-4727-895d-9857059ee342”> <img width=24% title=”Wheeled Robot Base” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/6a63ed45-9e0c-40ca-b71c-8dff614af141”>

We also have Model CR Series Technical Support for current and potential Model CR series users.

Attention:
This package on humble branch only provides common functions for all models.
If you want to use features that are only available in WHILL Model CR, you will need to use crystal-devel branch.

Requirements

  • Host device
    • Linux OS: Ubuntu 22.04
    • ROS2: Humble Hawksbill (humble)
  • Target device
    • WHILL Model CR2 (Note that Model C2 does not have any serial ports)

Getting started

  1. Download projects
  2. Configure your serial port
  3. Build project
  4. Launch
    4-(A). With the bringup package
    4-(B). With ‘run’ command

1. Download projects

cd ~/<your_ros2_ws>/src
git clone https://github.com/whill-labs/ros2_whill_interfaces.git
git clone https://github.com/whill-labs/ros2_whill.git

2. Configure your serial port

If your serial port is not /dev/ttyUSB0, please edit port_name in the following file:

~/<your_ros2_ws>/src/ros2_whill/whill_bringup/config/params.yaml

3. Build project

colcon build --packages-up-to whill
. install/setup.bash

4. Launch

(A) With the bringup package

ros2 launch whill_bringup whill_launch.py

(B) With ‘run’ command

ros2 run whill_driver whill

Note: If your serial port is not /dev/ttyUSB0, for example /dev/ttyUSB1, please run the following command instead of the one above:

ros2 run whill_driver whill --ros-args -p port_name:=/dev/ttyUSB1

ROS2 APIs

Publish

Topic name Message type Work
/whill/states/model_cr2 whill_msgs/ModelCr2State Notify WHILL states

Subscription

Topic name Message type Work
/whill/controller/joy sensor_msgs/Joy Give WHILL a virtual joystick input
/whill/controller/cmd_vel geometry_msgs/Twist Give WHILL a direct velocity input

Service

File truncated at 100 lines see the full file

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/whill-labs/ros2_whill.git
VCS Type git
VCS Version humble
Last Updated 2024-12-16
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
whill 0.0.1
whill_bringup 0.0.1
whill_description 0.0.1
whill_driver 0.0.1
whill_examples 0.0.1

README

whill

About

The “whill” is a ROS2 package for WHILL Model CR2.

<img width=22% title=”WHILL Model CR2” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/387a8aac-3808-4727-895d-9857059ee342”> <img width=24% title=”Wheeled Robot Base” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/6a63ed45-9e0c-40ca-b71c-8dff614af141”>

We also have Model CR Series Technical Support for current and potential Model CR series users.

Attention:
This package on humble branch only provides common functions for all models.
If you want to use features that are only available in WHILL Model CR, you will need to use crystal-devel branch.

Requirements

  • Host device
    • Linux OS: Ubuntu 22.04
    • ROS2: Humble Hawksbill (humble)
  • Target device
    • WHILL Model CR2 (Note that Model C2 does not have any serial ports)

Getting started

  1. Download projects
  2. Configure your serial port
  3. Build project
  4. Launch
    4-(A). With the bringup package
    4-(B). With ‘run’ command

1. Download projects

cd ~/<your_ros2_ws>/src
git clone https://github.com/whill-labs/ros2_whill_interfaces.git
git clone https://github.com/whill-labs/ros2_whill.git

2. Configure your serial port

If your serial port is not /dev/ttyUSB0, please edit port_name in the following file:

~/<your_ros2_ws>/src/ros2_whill/whill_bringup/config/params.yaml

3. Build project

colcon build --packages-up-to whill
. install/setup.bash

4. Launch

(A) With the bringup package

ros2 launch whill_bringup whill_launch.py

(B) With ‘run’ command

ros2 run whill_driver whill

Note: If your serial port is not /dev/ttyUSB0, for example /dev/ttyUSB1, please run the following command instead of the one above:

ros2 run whill_driver whill --ros-args -p port_name:=/dev/ttyUSB1

ROS2 APIs

Publish

Topic name Message type Work
/whill/states/model_cr2 whill_msgs/ModelCr2State Notify WHILL states

Subscription

Topic name Message type Work
/whill/controller/joy sensor_msgs/Joy Give WHILL a virtual joystick input
/whill/controller/cmd_vel geometry_msgs/Twist Give WHILL a direct velocity input

Service

File truncated at 100 lines see the full file

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/whill-labs/ros2_whill.git
VCS Type git
VCS Version humble
Last Updated 2024-12-16
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
whill 0.0.1
whill_bringup 0.0.1
whill_description 0.0.1
whill_driver 0.0.1
whill_examples 0.0.1

README

whill

About

The “whill” is a ROS2 package for WHILL Model CR2.

<img width=22% title=”WHILL Model CR2” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/387a8aac-3808-4727-895d-9857059ee342”> <img width=24% title=”Wheeled Robot Base” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/6a63ed45-9e0c-40ca-b71c-8dff614af141”>

We also have Model CR Series Technical Support for current and potential Model CR series users.

Attention:
This package on humble branch only provides common functions for all models.
If you want to use features that are only available in WHILL Model CR, you will need to use crystal-devel branch.

Requirements

  • Host device
    • Linux OS: Ubuntu 22.04
    • ROS2: Humble Hawksbill (humble)
  • Target device
    • WHILL Model CR2 (Note that Model C2 does not have any serial ports)

Getting started

  1. Download projects
  2. Configure your serial port
  3. Build project
  4. Launch
    4-(A). With the bringup package
    4-(B). With ‘run’ command

1. Download projects

cd ~/<your_ros2_ws>/src
git clone https://github.com/whill-labs/ros2_whill_interfaces.git
git clone https://github.com/whill-labs/ros2_whill.git

2. Configure your serial port

If your serial port is not /dev/ttyUSB0, please edit port_name in the following file:

~/<your_ros2_ws>/src/ros2_whill/whill_bringup/config/params.yaml

3. Build project

colcon build --packages-up-to whill
. install/setup.bash

4. Launch

(A) With the bringup package

ros2 launch whill_bringup whill_launch.py

(B) With ‘run’ command

ros2 run whill_driver whill

Note: If your serial port is not /dev/ttyUSB0, for example /dev/ttyUSB1, please run the following command instead of the one above:

ros2 run whill_driver whill --ros-args -p port_name:=/dev/ttyUSB1

ROS2 APIs

Publish

Topic name Message type Work
/whill/states/model_cr2 whill_msgs/ModelCr2State Notify WHILL states

Subscription

Topic name Message type Work
/whill/controller/joy sensor_msgs/Joy Give WHILL a virtual joystick input
/whill/controller/cmd_vel geometry_msgs/Twist Give WHILL a direct velocity input

Service

File truncated at 100 lines see the full file

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/whill-labs/ros2_whill.git
VCS Type git
VCS Version humble
Last Updated 2024-12-16
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
whill 0.0.1
whill_bringup 0.0.1
whill_description 0.0.1
whill_driver 0.0.1
whill_examples 0.0.1

README

whill

About

The “whill” is a ROS2 package for WHILL Model CR2.

<img width=22% title=”WHILL Model CR2” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/387a8aac-3808-4727-895d-9857059ee342”> <img width=24% title=”Wheeled Robot Base” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/6a63ed45-9e0c-40ca-b71c-8dff614af141”>

We also have Model CR Series Technical Support for current and potential Model CR series users.

Attention:
This package on humble branch only provides common functions for all models.
If you want to use features that are only available in WHILL Model CR, you will need to use crystal-devel branch.

Requirements

  • Host device
    • Linux OS: Ubuntu 22.04
    • ROS2: Humble Hawksbill (humble)
  • Target device
    • WHILL Model CR2 (Note that Model C2 does not have any serial ports)

Getting started

  1. Download projects
  2. Configure your serial port
  3. Build project
  4. Launch
    4-(A). With the bringup package
    4-(B). With ‘run’ command

1. Download projects

cd ~/<your_ros2_ws>/src
git clone https://github.com/whill-labs/ros2_whill_interfaces.git
git clone https://github.com/whill-labs/ros2_whill.git

2. Configure your serial port

If your serial port is not /dev/ttyUSB0, please edit port_name in the following file:

~/<your_ros2_ws>/src/ros2_whill/whill_bringup/config/params.yaml

3. Build project

colcon build --packages-up-to whill
. install/setup.bash

4. Launch

(A) With the bringup package

ros2 launch whill_bringup whill_launch.py

(B) With ‘run’ command

ros2 run whill_driver whill

Note: If your serial port is not /dev/ttyUSB0, for example /dev/ttyUSB1, please run the following command instead of the one above:

ros2 run whill_driver whill --ros-args -p port_name:=/dev/ttyUSB1

ROS2 APIs

Publish

Topic name Message type Work
/whill/states/model_cr2 whill_msgs/ModelCr2State Notify WHILL states

Subscription

Topic name Message type Work
/whill/controller/joy sensor_msgs/Joy Give WHILL a virtual joystick input
/whill/controller/cmd_vel geometry_msgs/Twist Give WHILL a direct velocity input

Service

File truncated at 100 lines see the full file

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/whill-labs/ros2_whill.git
VCS Type git
VCS Version humble
Last Updated 2024-12-16
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
whill 0.0.1
whill_bringup 0.0.1
whill_description 0.0.1
whill_driver 0.0.1
whill_examples 0.0.1

README

whill

About

The “whill” is a ROS2 package for WHILL Model CR2.

<img width=22% title=”WHILL Model CR2” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/387a8aac-3808-4727-895d-9857059ee342”> <img width=24% title=”Wheeled Robot Base” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/6a63ed45-9e0c-40ca-b71c-8dff614af141”>

We also have Model CR Series Technical Support for current and potential Model CR series users.

Attention:
This package on humble branch only provides common functions for all models.
If you want to use features that are only available in WHILL Model CR, you will need to use crystal-devel branch.

Requirements

  • Host device
    • Linux OS: Ubuntu 22.04
    • ROS2: Humble Hawksbill (humble)
  • Target device
    • WHILL Model CR2 (Note that Model C2 does not have any serial ports)

Getting started

  1. Download projects
  2. Configure your serial port
  3. Build project
  4. Launch
    4-(A). With the bringup package
    4-(B). With ‘run’ command

1. Download projects

cd ~/<your_ros2_ws>/src
git clone https://github.com/whill-labs/ros2_whill_interfaces.git
git clone https://github.com/whill-labs/ros2_whill.git

2. Configure your serial port

If your serial port is not /dev/ttyUSB0, please edit port_name in the following file:

~/<your_ros2_ws>/src/ros2_whill/whill_bringup/config/params.yaml

3. Build project

colcon build --packages-up-to whill
. install/setup.bash

4. Launch

(A) With the bringup package

ros2 launch whill_bringup whill_launch.py

(B) With ‘run’ command

ros2 run whill_driver whill

Note: If your serial port is not /dev/ttyUSB0, for example /dev/ttyUSB1, please run the following command instead of the one above:

ros2 run whill_driver whill --ros-args -p port_name:=/dev/ttyUSB1

ROS2 APIs

Publish

Topic name Message type Work
/whill/states/model_cr2 whill_msgs/ModelCr2State Notify WHILL states

Subscription

Topic name Message type Work
/whill/controller/joy sensor_msgs/Joy Give WHILL a virtual joystick input
/whill/controller/cmd_vel geometry_msgs/Twist Give WHILL a direct velocity input

Service

File truncated at 100 lines see the full file

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/whill-labs/ros2_whill.git
VCS Type git
VCS Version humble
Last Updated 2024-12-16
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
whill 0.0.1
whill_bringup 0.0.1
whill_description 0.0.1
whill_driver 0.0.1
whill_examples 0.0.1

README

whill

About

The “whill” is a ROS2 package for WHILL Model CR2.

<img width=22% title=”WHILL Model CR2” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/387a8aac-3808-4727-895d-9857059ee342”> <img width=24% title=”Wheeled Robot Base” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/6a63ed45-9e0c-40ca-b71c-8dff614af141”>

We also have Model CR Series Technical Support for current and potential Model CR series users.

Attention:
This package on humble branch only provides common functions for all models.
If you want to use features that are only available in WHILL Model CR, you will need to use crystal-devel branch.

Requirements

  • Host device
    • Linux OS: Ubuntu 22.04
    • ROS2: Humble Hawksbill (humble)
  • Target device
    • WHILL Model CR2 (Note that Model C2 does not have any serial ports)

Getting started

  1. Download projects
  2. Configure your serial port
  3. Build project
  4. Launch
    4-(A). With the bringup package
    4-(B). With ‘run’ command

1. Download projects

cd ~/<your_ros2_ws>/src
git clone https://github.com/whill-labs/ros2_whill_interfaces.git
git clone https://github.com/whill-labs/ros2_whill.git

2. Configure your serial port

If your serial port is not /dev/ttyUSB0, please edit port_name in the following file:

~/<your_ros2_ws>/src/ros2_whill/whill_bringup/config/params.yaml

3. Build project

colcon build --packages-up-to whill
. install/setup.bash

4. Launch

(A) With the bringup package

ros2 launch whill_bringup whill_launch.py

(B) With ‘run’ command

ros2 run whill_driver whill

Note: If your serial port is not /dev/ttyUSB0, for example /dev/ttyUSB1, please run the following command instead of the one above:

ros2 run whill_driver whill --ros-args -p port_name:=/dev/ttyUSB1

ROS2 APIs

Publish

Topic name Message type Work
/whill/states/model_cr2 whill_msgs/ModelCr2State Notify WHILL states

Subscription

Topic name Message type Work
/whill/controller/joy sensor_msgs/Joy Give WHILL a virtual joystick input
/whill/controller/cmd_vel geometry_msgs/Twist Give WHILL a direct velocity input

Service

File truncated at 100 lines see the full file

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/whill-labs/ros2_whill.git
VCS Type git
VCS Version humble
Last Updated 2024-12-16
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
whill 0.0.1
whill_bringup 0.0.1
whill_description 0.0.1
whill_driver 0.0.1
whill_examples 0.0.1

README

whill

About

The “whill” is a ROS2 package for WHILL Model CR2.

<img width=22% title=”WHILL Model CR2” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/387a8aac-3808-4727-895d-9857059ee342”> <img width=24% title=”Wheeled Robot Base” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/6a63ed45-9e0c-40ca-b71c-8dff614af141”>

We also have Model CR Series Technical Support for current and potential Model CR series users.

Attention:
This package on humble branch only provides common functions for all models.
If you want to use features that are only available in WHILL Model CR, you will need to use crystal-devel branch.

Requirements

  • Host device
    • Linux OS: Ubuntu 22.04
    • ROS2: Humble Hawksbill (humble)
  • Target device
    • WHILL Model CR2 (Note that Model C2 does not have any serial ports)

Getting started

  1. Download projects
  2. Configure your serial port
  3. Build project
  4. Launch
    4-(A). With the bringup package
    4-(B). With ‘run’ command

1. Download projects

cd ~/<your_ros2_ws>/src
git clone https://github.com/whill-labs/ros2_whill_interfaces.git
git clone https://github.com/whill-labs/ros2_whill.git

2. Configure your serial port

If your serial port is not /dev/ttyUSB0, please edit port_name in the following file:

~/<your_ros2_ws>/src/ros2_whill/whill_bringup/config/params.yaml

3. Build project

colcon build --packages-up-to whill
. install/setup.bash

4. Launch

(A) With the bringup package

ros2 launch whill_bringup whill_launch.py

(B) With ‘run’ command

ros2 run whill_driver whill

Note: If your serial port is not /dev/ttyUSB0, for example /dev/ttyUSB1, please run the following command instead of the one above:

ros2 run whill_driver whill --ros-args -p port_name:=/dev/ttyUSB1

ROS2 APIs

Publish

Topic name Message type Work
/whill/states/model_cr2 whill_msgs/ModelCr2State Notify WHILL states

Subscription

Topic name Message type Work
/whill/controller/joy sensor_msgs/Joy Give WHILL a virtual joystick input
/whill/controller/cmd_vel geometry_msgs/Twist Give WHILL a direct velocity input

Service

File truncated at 100 lines see the full file

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/whill-labs/ros2_whill.git
VCS Type git
VCS Version humble
Last Updated 2024-12-16
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
whill 0.0.1
whill_bringup 0.0.1
whill_description 0.0.1
whill_driver 0.0.1
whill_examples 0.0.1

README

whill

About

The “whill” is a ROS2 package for WHILL Model CR2.

<img width=22% title=”WHILL Model CR2” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/387a8aac-3808-4727-895d-9857059ee342”> <img width=24% title=”Wheeled Robot Base” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/6a63ed45-9e0c-40ca-b71c-8dff614af141”>

We also have Model CR Series Technical Support for current and potential Model CR series users.

Attention:
This package on humble branch only provides common functions for all models.
If you want to use features that are only available in WHILL Model CR, you will need to use crystal-devel branch.

Requirements

  • Host device
    • Linux OS: Ubuntu 22.04
    • ROS2: Humble Hawksbill (humble)
  • Target device
    • WHILL Model CR2 (Note that Model C2 does not have any serial ports)

Getting started

  1. Download projects
  2. Configure your serial port
  3. Build project
  4. Launch
    4-(A). With the bringup package
    4-(B). With ‘run’ command

1. Download projects

cd ~/<your_ros2_ws>/src
git clone https://github.com/whill-labs/ros2_whill_interfaces.git
git clone https://github.com/whill-labs/ros2_whill.git

2. Configure your serial port

If your serial port is not /dev/ttyUSB0, please edit port_name in the following file:

~/<your_ros2_ws>/src/ros2_whill/whill_bringup/config/params.yaml

3. Build project

colcon build --packages-up-to whill
. install/setup.bash

4. Launch

(A) With the bringup package

ros2 launch whill_bringup whill_launch.py

(B) With ‘run’ command

ros2 run whill_driver whill

Note: If your serial port is not /dev/ttyUSB0, for example /dev/ttyUSB1, please run the following command instead of the one above:

ros2 run whill_driver whill --ros-args -p port_name:=/dev/ttyUSB1

ROS2 APIs

Publish

Topic name Message type Work
/whill/states/model_cr2 whill_msgs/ModelCr2State Notify WHILL states

Subscription

Topic name Message type Work
/whill/controller/joy sensor_msgs/Joy Give WHILL a virtual joystick input
/whill/controller/cmd_vel geometry_msgs/Twist Give WHILL a direct velocity input

Service

File truncated at 100 lines see the full file

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/whill-labs/ros2_whill.git
VCS Type git
VCS Version humble
Last Updated 2024-12-16
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
whill 0.0.1
whill_bringup 0.0.1
whill_description 0.0.1
whill_driver 0.0.1
whill_examples 0.0.1

README

whill

About

The “whill” is a ROS2 package for WHILL Model CR2.

<img width=22% title=”WHILL Model CR2” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/387a8aac-3808-4727-895d-9857059ee342”> <img width=24% title=”Wheeled Robot Base” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/6a63ed45-9e0c-40ca-b71c-8dff614af141”>

We also have Model CR Series Technical Support for current and potential Model CR series users.

Attention:
This package on humble branch only provides common functions for all models.
If you want to use features that are only available in WHILL Model CR, you will need to use crystal-devel branch.

Requirements

  • Host device
    • Linux OS: Ubuntu 22.04
    • ROS2: Humble Hawksbill (humble)
  • Target device
    • WHILL Model CR2 (Note that Model C2 does not have any serial ports)

Getting started

  1. Download projects
  2. Configure your serial port
  3. Build project
  4. Launch
    4-(A). With the bringup package
    4-(B). With ‘run’ command

1. Download projects

cd ~/<your_ros2_ws>/src
git clone https://github.com/whill-labs/ros2_whill_interfaces.git
git clone https://github.com/whill-labs/ros2_whill.git

2. Configure your serial port

If your serial port is not /dev/ttyUSB0, please edit port_name in the following file:

~/<your_ros2_ws>/src/ros2_whill/whill_bringup/config/params.yaml

3. Build project

colcon build --packages-up-to whill
. install/setup.bash

4. Launch

(A) With the bringup package

ros2 launch whill_bringup whill_launch.py

(B) With ‘run’ command

ros2 run whill_driver whill

Note: If your serial port is not /dev/ttyUSB0, for example /dev/ttyUSB1, please run the following command instead of the one above:

ros2 run whill_driver whill --ros-args -p port_name:=/dev/ttyUSB1

ROS2 APIs

Publish

Topic name Message type Work
/whill/states/model_cr2 whill_msgs/ModelCr2State Notify WHILL states

Subscription

Topic name Message type Work
/whill/controller/joy sensor_msgs/Joy Give WHILL a virtual joystick input
/whill/controller/cmd_vel geometry_msgs/Twist Give WHILL a direct velocity input

Service

File truncated at 100 lines see the full file

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/whill-labs/ros2_whill.git
VCS Type git
VCS Version humble
Last Updated 2024-12-16
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
whill 0.0.1
whill_bringup 0.0.1
whill_description 0.0.1
whill_driver 0.0.1
whill_examples 0.0.1

README

whill

About

The “whill” is a ROS2 package for WHILL Model CR2.

<img width=22% title=”WHILL Model CR2” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/387a8aac-3808-4727-895d-9857059ee342”> <img width=24% title=”Wheeled Robot Base” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/6a63ed45-9e0c-40ca-b71c-8dff614af141”>

We also have Model CR Series Technical Support for current and potential Model CR series users.

Attention:
This package on humble branch only provides common functions for all models.
If you want to use features that are only available in WHILL Model CR, you will need to use crystal-devel branch.

Requirements

  • Host device
    • Linux OS: Ubuntu 22.04
    • ROS2: Humble Hawksbill (humble)
  • Target device
    • WHILL Model CR2 (Note that Model C2 does not have any serial ports)

Getting started

  1. Download projects
  2. Configure your serial port
  3. Build project
  4. Launch
    4-(A). With the bringup package
    4-(B). With ‘run’ command

1. Download projects

cd ~/<your_ros2_ws>/src
git clone https://github.com/whill-labs/ros2_whill_interfaces.git
git clone https://github.com/whill-labs/ros2_whill.git

2. Configure your serial port

If your serial port is not /dev/ttyUSB0, please edit port_name in the following file:

~/<your_ros2_ws>/src/ros2_whill/whill_bringup/config/params.yaml

3. Build project

colcon build --packages-up-to whill
. install/setup.bash

4. Launch

(A) With the bringup package

ros2 launch whill_bringup whill_launch.py

(B) With ‘run’ command

ros2 run whill_driver whill

Note: If your serial port is not /dev/ttyUSB0, for example /dev/ttyUSB1, please run the following command instead of the one above:

ros2 run whill_driver whill --ros-args -p port_name:=/dev/ttyUSB1

ROS2 APIs

Publish

Topic name Message type Work
/whill/states/model_cr2 whill_msgs/ModelCr2State Notify WHILL states

Subscription

Topic name Message type Work
/whill/controller/joy sensor_msgs/Joy Give WHILL a virtual joystick input
/whill/controller/cmd_vel geometry_msgs/Twist Give WHILL a direct velocity input

Service

File truncated at 100 lines see the full file

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/whill-labs/ros2_whill.git
VCS Type git
VCS Version humble
Last Updated 2024-12-16
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
whill 0.0.1
whill_bringup 0.0.1
whill_description 0.0.1
whill_driver 0.0.1
whill_examples 0.0.1

README

whill

About

The “whill” is a ROS2 package for WHILL Model CR2.

<img width=22% title=”WHILL Model CR2” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/387a8aac-3808-4727-895d-9857059ee342”> <img width=24% title=”Wheeled Robot Base” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/6a63ed45-9e0c-40ca-b71c-8dff614af141”>

We also have Model CR Series Technical Support for current and potential Model CR series users.

Attention:
This package on humble branch only provides common functions for all models.
If you want to use features that are only available in WHILL Model CR, you will need to use crystal-devel branch.

Requirements

  • Host device
    • Linux OS: Ubuntu 22.04
    • ROS2: Humble Hawksbill (humble)
  • Target device
    • WHILL Model CR2 (Note that Model C2 does not have any serial ports)

Getting started

  1. Download projects
  2. Configure your serial port
  3. Build project
  4. Launch
    4-(A). With the bringup package
    4-(B). With ‘run’ command

1. Download projects

cd ~/<your_ros2_ws>/src
git clone https://github.com/whill-labs/ros2_whill_interfaces.git
git clone https://github.com/whill-labs/ros2_whill.git

2. Configure your serial port

If your serial port is not /dev/ttyUSB0, please edit port_name in the following file:

~/<your_ros2_ws>/src/ros2_whill/whill_bringup/config/params.yaml

3. Build project

colcon build --packages-up-to whill
. install/setup.bash

4. Launch

(A) With the bringup package

ros2 launch whill_bringup whill_launch.py

(B) With ‘run’ command

ros2 run whill_driver whill

Note: If your serial port is not /dev/ttyUSB0, for example /dev/ttyUSB1, please run the following command instead of the one above:

ros2 run whill_driver whill --ros-args -p port_name:=/dev/ttyUSB1

ROS2 APIs

Publish

Topic name Message type Work
/whill/states/model_cr2 whill_msgs/ModelCr2State Notify WHILL states

Subscription

Topic name Message type Work
/whill/controller/joy sensor_msgs/Joy Give WHILL a virtual joystick input
/whill/controller/cmd_vel geometry_msgs/Twist Give WHILL a direct velocity input

Service

File truncated at 100 lines see the full file

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/whill-labs/ros2_whill.git
VCS Type git
VCS Version humble
Last Updated 2024-12-16
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
whill 0.0.1
whill_bringup 0.0.1
whill_description 0.0.1
whill_driver 0.0.1
whill_examples 0.0.1

README

whill

About

The “whill” is a ROS2 package for WHILL Model CR2.

<img width=22% title=”WHILL Model CR2” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/387a8aac-3808-4727-895d-9857059ee342”> <img width=24% title=”Wheeled Robot Base” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/6a63ed45-9e0c-40ca-b71c-8dff614af141”>

We also have Model CR Series Technical Support for current and potential Model CR series users.

Attention:
This package on humble branch only provides common functions for all models.
If you want to use features that are only available in WHILL Model CR, you will need to use crystal-devel branch.

Requirements

  • Host device
    • Linux OS: Ubuntu 22.04
    • ROS2: Humble Hawksbill (humble)
  • Target device
    • WHILL Model CR2 (Note that Model C2 does not have any serial ports)

Getting started

  1. Download projects
  2. Configure your serial port
  3. Build project
  4. Launch
    4-(A). With the bringup package
    4-(B). With ‘run’ command

1. Download projects

cd ~/<your_ros2_ws>/src
git clone https://github.com/whill-labs/ros2_whill_interfaces.git
git clone https://github.com/whill-labs/ros2_whill.git

2. Configure your serial port

If your serial port is not /dev/ttyUSB0, please edit port_name in the following file:

~/<your_ros2_ws>/src/ros2_whill/whill_bringup/config/params.yaml

3. Build project

colcon build --packages-up-to whill
. install/setup.bash

4. Launch

(A) With the bringup package

ros2 launch whill_bringup whill_launch.py

(B) With ‘run’ command

ros2 run whill_driver whill

Note: If your serial port is not /dev/ttyUSB0, for example /dev/ttyUSB1, please run the following command instead of the one above:

ros2 run whill_driver whill --ros-args -p port_name:=/dev/ttyUSB1

ROS2 APIs

Publish

Topic name Message type Work
/whill/states/model_cr2 whill_msgs/ModelCr2State Notify WHILL states

Subscription

Topic name Message type Work
/whill/controller/joy sensor_msgs/Joy Give WHILL a virtual joystick input
/whill/controller/cmd_vel geometry_msgs/Twist Give WHILL a direct velocity input

Service

File truncated at 100 lines see the full file

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/whill-labs/ros2_whill.git
VCS Type git
VCS Version humble
Last Updated 2024-12-16
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
whill 0.0.1
whill_bringup 0.0.1
whill_description 0.0.1
whill_driver 0.0.1
whill_examples 0.0.1

README

whill

About

The “whill” is a ROS2 package for WHILL Model CR2.

<img width=22% title=”WHILL Model CR2” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/387a8aac-3808-4727-895d-9857059ee342”> <img width=24% title=”Wheeled Robot Base” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/6a63ed45-9e0c-40ca-b71c-8dff614af141”>

We also have Model CR Series Technical Support for current and potential Model CR series users.

Attention:
This package on humble branch only provides common functions for all models.
If you want to use features that are only available in WHILL Model CR, you will need to use crystal-devel branch.

Requirements

  • Host device
    • Linux OS: Ubuntu 22.04
    • ROS2: Humble Hawksbill (humble)
  • Target device
    • WHILL Model CR2 (Note that Model C2 does not have any serial ports)

Getting started

  1. Download projects
  2. Configure your serial port
  3. Build project
  4. Launch
    4-(A). With the bringup package
    4-(B). With ‘run’ command

1. Download projects

cd ~/<your_ros2_ws>/src
git clone https://github.com/whill-labs/ros2_whill_interfaces.git
git clone https://github.com/whill-labs/ros2_whill.git

2. Configure your serial port

If your serial port is not /dev/ttyUSB0, please edit port_name in the following file:

~/<your_ros2_ws>/src/ros2_whill/whill_bringup/config/params.yaml

3. Build project

colcon build --packages-up-to whill
. install/setup.bash

4. Launch

(A) With the bringup package

ros2 launch whill_bringup whill_launch.py

(B) With ‘run’ command

ros2 run whill_driver whill

Note: If your serial port is not /dev/ttyUSB0, for example /dev/ttyUSB1, please run the following command instead of the one above:

ros2 run whill_driver whill --ros-args -p port_name:=/dev/ttyUSB1

ROS2 APIs

Publish

Topic name Message type Work
/whill/states/model_cr2 whill_msgs/ModelCr2State Notify WHILL states

Subscription

Topic name Message type Work
/whill/controller/joy sensor_msgs/Joy Give WHILL a virtual joystick input
/whill/controller/cmd_vel geometry_msgs/Twist Give WHILL a direct velocity input

Service

File truncated at 100 lines see the full file

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/whill-labs/ros2_whill.git
VCS Type git
VCS Version humble
Last Updated 2024-12-16
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
whill 0.0.1
whill_bringup 0.0.1
whill_description 0.0.1
whill_driver 0.0.1
whill_examples 0.0.1

README

whill

About

The “whill” is a ROS2 package for WHILL Model CR2.

<img width=22% title=”WHILL Model CR2” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/387a8aac-3808-4727-895d-9857059ee342”> <img width=24% title=”Wheeled Robot Base” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/6a63ed45-9e0c-40ca-b71c-8dff614af141”>

We also have Model CR Series Technical Support for current and potential Model CR series users.

Attention:
This package on humble branch only provides common functions for all models.
If you want to use features that are only available in WHILL Model CR, you will need to use crystal-devel branch.

Requirements

  • Host device
    • Linux OS: Ubuntu 22.04
    • ROS2: Humble Hawksbill (humble)
  • Target device
    • WHILL Model CR2 (Note that Model C2 does not have any serial ports)

Getting started

  1. Download projects
  2. Configure your serial port
  3. Build project
  4. Launch
    4-(A). With the bringup package
    4-(B). With ‘run’ command

1. Download projects

cd ~/<your_ros2_ws>/src
git clone https://github.com/whill-labs/ros2_whill_interfaces.git
git clone https://github.com/whill-labs/ros2_whill.git

2. Configure your serial port

If your serial port is not /dev/ttyUSB0, please edit port_name in the following file:

~/<your_ros2_ws>/src/ros2_whill/whill_bringup/config/params.yaml

3. Build project

colcon build --packages-up-to whill
. install/setup.bash

4. Launch

(A) With the bringup package

ros2 launch whill_bringup whill_launch.py

(B) With ‘run’ command

ros2 run whill_driver whill

Note: If your serial port is not /dev/ttyUSB0, for example /dev/ttyUSB1, please run the following command instead of the one above:

ros2 run whill_driver whill --ros-args -p port_name:=/dev/ttyUSB1

ROS2 APIs

Publish

Topic name Message type Work
/whill/states/model_cr2 whill_msgs/ModelCr2State Notify WHILL states

Subscription

Topic name Message type Work
/whill/controller/joy sensor_msgs/Joy Give WHILL a virtual joystick input
/whill/controller/cmd_vel geometry_msgs/Twist Give WHILL a direct velocity input

Service

File truncated at 100 lines see the full file

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI https://github.com/whill-labs/ros2_whill.git
VCS Type git
VCS Version humble
Last Updated 2024-12-16
Dev Status DEVELOPED
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
whill 0.0.1
whill_bringup 0.0.1
whill_description 0.0.1
whill_driver 0.0.1
whill_examples 0.0.1

README

whill

About

The “whill” is a ROS2 package for WHILL Model CR2.

<img width=22% title=”WHILL Model CR2” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/387a8aac-3808-4727-895d-9857059ee342”> <img width=24% title=”Wheeled Robot Base” src=”https://github.com/WHILL/Model_CR_Technical_Support/assets/129816934/6a63ed45-9e0c-40ca-b71c-8dff614af141”>

We also have Model CR Series Technical Support for current and potential Model CR series users.

Attention:
This package on humble branch only provides common functions for all models.
If you want to use features that are only available in WHILL Model CR, you will need to use crystal-devel branch.

Requirements

  • Host device
    • Linux OS: Ubuntu 22.04
    • ROS2: Humble Hawksbill (humble)
  • Target device
    • WHILL Model CR2 (Note that Model C2 does not have any serial ports)

Getting started

  1. Download projects
  2. Configure your serial port
  3. Build project
  4. Launch
    4-(A). With the bringup package
    4-(B). With ‘run’ command

1. Download projects

cd ~/<your_ros2_ws>/src
git clone https://github.com/whill-labs/ros2_whill_interfaces.git
git clone https://github.com/whill-labs/ros2_whill.git

2. Configure your serial port

If your serial port is not /dev/ttyUSB0, please edit port_name in the following file:

~/<your_ros2_ws>/src/ros2_whill/whill_bringup/config/params.yaml

3. Build project

colcon build --packages-up-to whill
. install/setup.bash

4. Launch

(A) With the bringup package

ros2 launch whill_bringup whill_launch.py

(B) With ‘run’ command

ros2 run whill_driver whill

Note: If your serial port is not /dev/ttyUSB0, for example /dev/ttyUSB1, please run the following command instead of the one above:

ros2 run whill_driver whill --ros-args -p port_name:=/dev/ttyUSB1

ROS2 APIs

Publish

Topic name Message type Work
/whill/states/model_cr2 whill_msgs/ModelCr2State Notify WHILL states

Subscription

Topic name Message type Work
/whill/controller/joy sensor_msgs/Joy Give WHILL a virtual joystick input
/whill/controller/cmd_vel geometry_msgs/Twist Give WHILL a direct velocity input

Service

File truncated at 100 lines see the full file