scuttle_driver

Translates the ROS Twist commands to motor input commands for the SCUTTLE robot.

NOTE: This package is only used on the physical SCUTTLE robot as it sends motor commands via the GPIO pins of the compute board.

Dependencies

The configurations in this repository assume you have the following prerequisites installed on the physical SCUTTLE that you want to drive.

1. ROS Noetic with the ros-noetic-navigation, ros-noetic-robot and ros-noetic-tf2 packages.
2. A working ROS workspace.
3. If launched via a systemd daemon then the teleop_twist_joy package should be installed.

Usage

scuttle_driver can be launched using rosrun as follows

rosrun scuttle_driver scuttle_driver.py

Or included in a launch file as follows

<node name="scuttle_driver" pkg="scuttle_driver" type="scuttle_driver.py" output="screen"/>

When the scuttle_driver node is operating it subscribes to the following topics:

• /cmd_vel - Provides Twist messages that are translated into motor commands for SCUTTLE
• /initial_pose - Provides the current position of the robot. Overwrites the estimated position as obtained using odometry.

Additionally Odometry messages are published on the odom topic