This repository contains the basic packages to control GoPiGo3 with ROS:

1. Robot model => gopigo3_description
2. Fake robot => gopigo3_fake
3. Physical robot => gopigo3_bringup

Tutorial

Learning Robotics with ROS made easy Each of the ROS packages is covering in a dedicated section.

Further resources

• http://therobotacademy.com/
• http://wiki.ros.org/Robots/gopigo3

Installation

Follow the complete guide at Learning Robotics with ROS made easy.

(This package key_teleop is already included in this bundle of GoPiGo3, no need to install separately) Include ROS package teleop_tools for teleoperating the robot. Whenever you want to control the robot in Gazebo or the physical GoPiGo3, launch the node as follows:

• $ rosrun key_teleop key_teleop.py /key_vel:=/cmd_vel

Package gopigo3_description

The package gopigo3_description contains the URDF description of GoPiGo3 that you can use to perform simulations of the robot.

1. $ roslaunch gopigo3_description gopigo3_rviz.launch

   • Load the current gopigo3.urdf.xacro model of the robot

2. $ roslaunch gopigo3_description gopigo3_rviz.launch gui:=True

   • Plus widget to interactively rotate the right and left wheels

Package gopigo3_fake

The package gopigo3_fake allows to experiment with GoPiGo3 without needing the physical one. Yo can use if, for example, to explore its kinematics

$ roslaunch gopigo3_fake gopigo3_fake.launch

• $ rosrun key_teleop key_teleop.py /key_vel:=/cmd_vel

Package gopigo3_bringup

The package gopigo3_bringup allows the user to operate the robot including the distance sensor and the servomotors of the wheels.

BRINGUP GOPIGO3

• $ roslaunch bringup_car starter_kit.launch for Starter Kit configuration: servomotors of the wheels + distance sensor

TEST INDIVIDUALLY for each of the involved hardware

1. Distance sensor: $ roslaunch bringup_car distance_sensor.launch

   • Subscribe to the topic in another terminal: $ rostopic echo distance_sensor/distance
   • Plot the graph of distance vs time in the laptop: $ rqt_plot and write the name of topic /distance_sensor/distance

2. Drives (teleoperation) $ roslaunch bringup_car differential_drives.launch

   • $ rosrun key_teleop key_teleop.py /key_vel:=/cmd_vel