ROS loomo_base package

🤖 Segway Ninebot Loomo ROS control

Build

Use the following commands to download and compile the package. Catkin_tools is recommended, but catkin_make also works.

cd catkin_ws/src/
git clone https://github.com/jkk-research/loomo_base
 git clone https://github.com/szenergy/rviz_markers
catkin build loomo_base rviz_markers

Don't forget to source 😉

Run

roslaunch loomo_base joystick_control.launch

Troubleshoot

sudo apt-get install ros-melodic-joy

Further readings

• https://github.com/mit-acl/android_loomo_ros_core

  journey
    title IP adresses
    section Robot (android)
      192.168.42.129: 5: 
    section Jetson (loomo, roscore)
      192.168.42.151: 5: 
    section Laptop
      192.168.42.216: 4: 

Loading

ssh [email protected]

Create Waypoints

To create waypoints to the loomo, you first have to ssh into the Jetson and start roscore. Optional: You can use screen -mdS roscore_auto roscore to run roscore in the background. After that you need to use the rosrun loomo_base loomo_odom.py command to initialize the starting position of the robot. From this point you can create your waypoints by simply using the waypoint_creator.py in your workspace. In rviz you need to use the 2D Nav Goal and mark the points you want the robot to go. Finally to start the process you just need to start waypoint_loomo.py and the robot will go to the marked points.

Issues

• Every time you turn on the Jetson, you first have to synchronize its time with the robot and the computer you are using, otherwise the tf messages won't work on rviz.
• If the loomo_odom.py stops working you can use the previously added position by simply using rosrun loomo_base loomo_odom.py --prev command.