nomadic_driver

ROS driver for Nomadic robots

Subscribed Topics

cmd_vel geometry_msgs::Twist

The velocity command that the robot should execute.

Published Topics

odom nav_msgs::Odometry

The robot odometry.

Params

port string

Default: /dev/ttyUSB0.

model string

The robot model. Can be "N200", "N150", "Scout", "Scout2". Default: Scout2.

retry_interval int

If the driver can't connect to the robot, retry after this time interval (in milliseconds). If this param is set to 0 the driver quits when the first conection fails. Default: 2500.

odom_frame_id string

The tf frame attached to the origin of the reference system. Default: /odom.

frame_id string

The tf frame attached to the robot. Default: /base_link.

publish_tf bool

Whether the node should brodcast a tf transform from odom_frame_id to frame_id. Default: true.