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CS 453 Lab 5: Docking

This lab serves as an introduction to ROS2 using the Create3 from iRobot. The Create3 is a mobile robot that can be controlled using ROS2. The Create3 has a docking station that it can autonomously dock with. This lab will focus on using the Create3 to dock with the docking station.

Steps:

1. Undock
2. Drive 1m
3. Turn randomly
4. Drive 0.5m
5. Dock without the Dock action

Additional Requirements:

  • Add chirp tones between transitions. For Example, before you drive, play a tone to signify you’re driving.

  • Different tones between steps might be a helpful debugging tool!

  • Fully docked is: /dock_status.is_docked = True

Running the Code

Requirements

  • ROS2 and the Create3 ROS2 packages must be installed. See the Create3 ROS2 Setup for guidance.

  • This Repo

Build

Use colcon to build the packages

$ colcon build

Run

  1. source the ROS2 environment:
$ source install/setup.bash
  1. Spin up the dockStatus node:
$ ros2 run dockStatus dockStatus
  1. Spin up the dock node:
$ ros2 run dock dock

About

Constants

The dictionary constants at the top of the dock.py file are inspired by Design Tokens.