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ros_jimmy

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Hardware:

  • USB2Dynamixel
  • Powerhub
  • 12V Power Supply
  • HROS5

Pre-Install:

  • Operating System: Linux Ubuntu 14.04
  • ROS Distribution: ROS Indigo
  • Make sure dynamixel_controllers package is successfully installed
  • Make sure USB port is available/accessible.
  • Make sure id numbers and servo limits (min, max) are same as in the motor.yaml
  • http://wiki.ros.org/dynamixel_controllers

Install Steps:

  • cd catkin_ws/src
  • download the git repository
  • cd ..
  • source devel/setup.bash
  • catkin_make
  • make sure there are no error messages
  • open a terminal and type
  • cd catkin_ws
  • source devel/setup.bash

Testing

  • roslaunch jimmy jimmy.launch
  • make sure there are no error messages. If there are yellow and red colored lines run the lunch file again.
  • Select an option. Make sure you are in the keyboard window when you select an option.

Topics

  • Subscribed Topics
  • /play_motion (std_msgs/String)
  • Motion file name. For example:
  • rostopic pub -1 /play_motion std_msgs/String stand

Portland State University - Intelligent Robotics Lab - email: herdogan@pdx.edu

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ROS Package for Jimmy Robot

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