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Added teleop package, improved imu, odometry and transformations. use services instead of topics #9

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Added teleop package, improved imu, odometry and transformations. use services instead of topics #9

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fba6eba
fixed imu data, fixed odometry data, fixed transformations,
Mar 4, 2015
ebcb570
added teleop package for sphero (ps3 joystick)
Mar 4, 2015
4029ba6
added set_heading to sphero node and teleop
May 2, 2016
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12 changes: 9 additions & 3 deletions sphero_bringup/launch/sphero.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -3,14 +3,20 @@
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
<param name="publish_frequency" type="double" value="50.0" />
</node>

<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
<param name="output_frame" value="odom"/>
<param name="freq" value="30.0"/>
<param name="sensor_timeout" value="1.0"/>
<param name="odom_used" value="true"/>
<param name="imu_used" value="true"/>
<param name="imu_used" value="false"/>
<param name="vo_used" value="false"/>
<param name="self_diagnose" value="false"/>
<!-- <remap from="/imu_data" to="/imu" /> -->
</node>
<node pkg="sphero_node" type="sphero.py" name="sphero_node"/>
</launch>

<node pkg="sphero_node" type="sphero.py" name="sphero_node" output="screen">
<!-- <param name="address" value="" /> -->
</node>

</launch>
57 changes: 29 additions & 28 deletions sphero_description/urdf/sphero.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -9,21 +9,32 @@
<property name="M_PI" value="3.14159"/>
<property name="SCALE" value="0.0254"/>

<material name="Green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>



<link name="base_link">
<inertial>
<mass value="0.5" />
<origin xyz="0 0 0.0" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0"
iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>

<link name="base_footprint">
<visual>
<origin xyz=" 0 0 0" rpy="3.14 0 0" />
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://sphero_description/meshes/Sphero_Textured.dae" scale=" 0.0127 0.0127 0.0127"/>
<box size="0.001 0.001 0.001" />
</geometry>
<material name="Green" />
</visual>

<collision>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</collision>
</link>

<link name="base_link">
<visual>
<origin xyz=" 0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://sphero_description/meshes/Sphero_Textured.dae"/>
</geometry>
</visual>

Expand All @@ -34,21 +45,11 @@
</geometry>
</collision>
</link>




<!--joint name="base_footprint_joint" type="fixed">
<origin xyz="0 0 0.0381" rpy="0 0 0" />
<parent link="base_footprint"/>
<child link="base_link" />

<joint name="base_footprint_joint" type="continuous">
<origin xyz="0 0 0.038" rpy="0 0 0" />
<parent link="base_footprint"/>
<child link="base_link" />
</joint>

<joint name="imu_joint" type="fixed">
<origin xyz="0 0 0.0" rpy="0 0 0" />
<parent link="base_link"/>
<child link="imu_link" />
</joint-->



</robot>
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