robot_control

This package can be used on ROS to control turtlebot robots :

• You can control the Turtlebot Burger with 1 rear bump sensor, 1 servomotor SM-10 for the gripper and 1 servomotor SM-10 attached to rotate the Raspberry Pi camera. The gripper servo must be attached to the ROBOTIS pin 4 and the camera one must be attached to the ROBOTIS pin 1.
• You can control the Turtlebot Waffle with a WidowX arm attached on it. You can also control each joint of this arm. And finally, you will be able to detect an object and take it with the arm thanks to OpenCV and the Raspberry Pi camera.

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Download :

• Download on the PC :
  cd ~/catkin_ws/src
  git clone https://github.com/clbess/robot_control
  sudo chmod 777 -R robot_control/script cd ~/catkin_ws
  catkin_make

• Download on the robot :
  cd ~/catkin_ws/src git clone https://github.com/clbess/robot_control
  (Only for Turtlebot Waffle with a Widowx arm :
  git clone https://github.com/clbess/widowx_arm
  git clone https://github.com/vanadiumlabs/arbotix_ros)
  cd ~/catkin_ws
  catkin_make

How to control the robots :

• On the PC terminal :
  roscore

• On the robot terminal :
  roslaunch robot_control bringup_burger.launch (or bringup_waffle.launch)

• On the PC terminal :
  roslaunch robot_control teleop_burger.launch (or teleop_waffle.launch)

If you just want to search for an object with the Turtlebot waffle :

• On the PC terminal :
  roscore

• On the robot terminal :
  roslaunch robot_control bringup_waffle.launch

• On the PC terminal :
  roslaunch robot_control detection.launch