ros_whill

ROS package for WHILL Model CR

ROS API

Subscribed Topics

/whill/controller/joy (sensor_msgs/Joy)

• Virtual WHILL joystick input. You can controll WHILL via this topic.

Published Topics

/whill/states/joy (sensor_msgs/Joy)

• Joystick status

/whill/states/jointState (sensor_msgs/JointState)

• Wheel rotate position(rad) and rotation velocity(rad/s)

/whill/states/imu (sensor_msgs/Imu)

• IMU measured data.

/whill/states/batteryState (sensor_msgs/BatteryState)

• Battery information

Requirements

• Ubuntu 16.04
• ROS kinetic

Build

In your shell:

cd ~/catkin_ws
catkin_make
rospack profile

ros_whill package is sometimes not recognized if you not set "rospack profile". (After executed "rosrun ros_whill", you might see the error message "not found package".)

Build only ros_whill package

catkin_make -DCATKIN_WHITELIST_PACKAGES="ros_whill"

SerialPort Settings

Set

Edit your ~/.bashrc (bash) or ~/.zshrc (zsh) to add this line:

export TTY_WHILL=/dev/[YOUR SERIAL PORT DEVICE]

Setting will be applied automatically from next shell starting or booting up.

Apply setting immediately

In your shell:

(bash)

source ~/.bashrc

(zsh)

source ~/.zshrc

Check the current setting

echo $TTY_WHILL  # -> Should be /dev/[YOUR SERIAL PORT DEVICE]

Launch

roslaunch ros_whill modelc.launch

Set serial port as an argument of the launch file

roslaunch ros_whill modelc.launch serialport:=/dev/[YOUR SERIAL PORT DEVICE]

In the case of opening serial port failed

Edit

/lib/udev/rules.d/50-udev-default.rules

And add:

KERNEL=="ttyUSB[0-9]*", MODE="0666"

Change Speed Profile

rosservice call /set_speed_profile {4, 15, 16, 64, 10, 16, 56, 10, 56, 72}