Raspimouse Node

ROS 2 node for the Raspberry Pi Mouse.

Build Status

master branch

Source Build Status on ROS2 Buildfarm

ROS 2 + Ubuntu	raspimouse	raspimouse_msgs
Foxy + Focal (foxy-devel)
Humble + Jammy (humble-devel)	TODO	TODO

Requirements

• Raspberry Pi Mouse
  • https://rt-net.jp/products/raspberrypimousev3/
  • RT Robot Shop
• Linux OS
  • Ubuntu server 20.04
  • https://ubuntu.com/download/raspberry-pi
• Device Driver
  • rt-net/RaspberryPiMouse
• ROS
  • Foxy Fitzroy
  • Humble Hawksbill

Installation

Binary Insallation

$ sudo apt install ros-$ROS_DISTRO-raspimouse

Source Build

$ cd ~/ros2_ws/src
# Clone package
$ git clone -b $ROS_DISTRO-devel https://github.com/rt-net/raspimouse2

# Install dependencies
$ rosdep install -r -y -i --from-paths .

# Build & Install
$ cd ~/ros2_ws
$ colcon build --symlink-install
$ source ~/ros2_ws/install/setup.bash

QuickStart

# Terminal 1
$ source ~/ros2_ws/install/setup.bash
$ ros2 launch raspimouse raspimouse.launch.py

# Terminal 2
$ source ~/ros2_ws/install/setup.bash
# Set buzzer frequency
$ ros2 topic pub -1 /buzzer std_msgs/msg/Int16 '{data: 1000}'
$ ros2 topic pub -1 /buzzer std_msgs/msg/Int16 '{data: 0}'
# or rotate motors
$ ros2 service call /motor_power std_srvs/SetBool '{data: true}'
$ ros2 topic pub -1 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.1, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0.05}}'
# Shutdown
$ ros2 lifecycle set raspimouse shutdown

Node Description

This is a managed-lifecycle node. The node must be configured and activated after being launched before the robot can be used. If running the node manually, after launching the node execute the following command to configure it:

$ ros2 lifecycle set raspimouse configure

If configuration succeeds, execute the following command to activate the node:

$ ros2 lifecycle set raspimouse activate

The robot can now be controlled and sensor information will be published.

The node can be deactivated using the following command:

$ ros2 lifecycle set raspimouse deactivate

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