ROS – ros_myzharbot_robot package

The “ros_myzharbot_robot” is the package that contains the launchers to run the nodes to control MyzharBot with the correct parameters.

The package depends on the “ros_serial_bridge” package. Follow this guide to install it before starting.

Source code

The source code is available on Github.

The parameter to configure MyzharBot are available in the file “myzharbot_robot.yaml“.
Take particular care to parameters “k_vel” and “k_ang”. They are used to calculate robot speed and to update odometry, if you use a different configuration for your robot you can calculate that parameters using the apposite tool:

Installation

The installation of the package is quite simple:

1. Goto ROS workspace directory:

   cd ~/catkin_ws/src

2. Clone the repository:

   git clone https://github.com/officinerobotiche/ros_myzharbot_robot.git

3. Back to the main directory of the workspace:

   cd ~/catkin_ws

4.  Compile:

   catkin_make

Usage

To run the nodes simply launch the following command in a new terminal (Ctrl+Alt+t):

roslaunch ros_myzharbot_robot myzharbot.launch